dual_cascade_gm6020.hpp

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#pragma once
 
#include "dual_cascade_position.hpp"
 
#include "telemetry/adapter/iangular_velocity_adapter.hpp"
#include "telemetry/adapter/iangular_position_adapter.hpp"
 
#include "wrap/trap/motor/dji_gm6020.hpp"
#include "wrap/trap/motor/dji_motor_aliases.hpp"
#include "wrap/trap/algorithms/ring_radians.hpp"
 
#include "wrap/units/units_alias.hpp"
 
#include <memory>
 
namespace fang::motor
{
    class DualCascadeGm6020
        :
        public DualCascadePosition<trap::motor::DjiMotorOutput, RPM>
    {
    public:
        using Motor = trap::motor::DjiGM6020;
 
        using PidMotor = DualCascadePosition<trap::motor::DjiMotorOutput, RPM>;
 
        struct Config{
            Motor::Config motorConfig;
            PidMotor::Config pidMotorConfig;
        };
 
        DualCascadeGm6020(Drivers& drivers, const Config& config):
            PidMotor
            {make(drivers, config)}
        {
        }
 
    private:
        PidMotor make(Drivers& drivers, const Config& config)
        {
            auto motor{
                std::make_unique<Motor>(
                    drivers,
                    config.motorConfig
                )
            };
 
            auto positionTelemetry{
                std::make_unique<telemetry::IAngularPositionAdapter>(
                    *motor
                )
            };
 
            auto velocityTelemetry{
                std::make_unique<telemetry::IAngularVelocityAdapter>(
                    *motor
                )
            };
 
            return PidMotor{
                config.pidMotorConfig,
                std::move(motor),
                std::move(positionTelemetry),
                std::move(velocityTelemetry)
            };
        }
    };
}