chassis_field_yaw_system.hpp

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#pragma once
 
#include "wrap/trap/communication/sensors/iimu.hpp"
#include "wrap/rail/turret/ifield_yaw_system.hpp"
#include "wrap/rail/motor/iposition_motor.hpp"
 
#include <memory>
 
namespace fang::turret
{
    class ChassisFieldYawSystem : virtual public IFieldYawSystem
    {
    public:
        using Motor = motor::IPositionMotor;
        using Imu = trap::communication::sensors::IImu;
        struct Config
        {
            Radians yawError;
        };
 
        ChassisFieldYawSystem
        (
            std::unique_ptr<Motor> motor,
            std::unique_ptr<Imu> chassisImu,
            const Config& config
        );
        void initialize() override;
        void update() override;
        void setTargetFieldYaw(const Radians& yaw) override;
    private:
        void setChassiswiseYaw(const Radians& yaw);
        std::unique_ptr<Motor> motor_;
        std::unique_ptr<Imu> chassisImu_;
        const Radians kYawError_;
    };
}