base_quad_drive.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_DRIVE_QUAD_DRIVE_BASE_QUAD_DRIVE_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_DRIVE_QUAD_DRIVE_BASE_QUAD_DRIVE_HPP
#include "control/chassis/drive/quad_drive/quad_drive_subsystem.hpp"
#include "control/chassis/drive/quad_drive/data/quad_collection.hpp"
#include "driver/drivers.hpp"
 
#include "wrap/rail/motor/ispeed_motor.hpp"
 
#include <array>
#include <memory>
 
namespace fang::chassis
{
    class BaseQuadDrive : public QuadDriveSubsystem
    {
    public:
        using Motor = motor::ISpeedMotor;
        using Motors = QuadCollection<std::unique_ptr<Motor>>;
 
        BaseQuadDrive
        (
            Drivers& drivers,
            std::unique_ptr<Motor> frontLeftMotor,
            std::unique_ptr<Motor> frontRightMotor,
            std::unique_ptr<Motor> rearLeftMotor,
            std::unique_ptr<Motor> rearRightMotor
        );
 
        BaseQuadDrive(Drivers& drivers, Motors&& motors);
 
        virtual void setTargetWheelSpeeds(const QuadRPM& wheelSpeeds) override;
        virtual void initialize() override;
        virtual void update() override;
        virtual void refresh() override;
        virtual ~BaseQuadDrive() {}
    private:
        std::array<std::unique_ptr<Motor>, 4> motors_;
    };
}
#endif