simple_ammo_booster.hpp

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#pragma once
 
#include "driver/drivers.hpp"
#include "control/turret/ammo_booster/simple_ammo_booster_subsystem/simple_ammo_booster_subsystem.hpp"
 
#include "wrap/rail/motor/ispeed_wheel.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::turret
{
    class SimpleAmmoBooster : public SimpleAmmoBoosterSubsystem
    {
    public:
        using Flywheel = motor::ISpeedWheel;
        using Flywheels = std::vector<std::unique_ptr<Flywheel>>;
        struct Config
        {
            MetersPerSecond ammoVelocity; 
        };
 
        SimpleAmmoBooster
        (
            Drivers& drivers,
            Flywheels flywheels,
            const Config& config
        );
 
        void boostOn() override;
        void boostOff() override;
 
        void update() override;
        void refresh() override;
        void initialize() override;
    private:
        static constexpr MetersPerSecond kStillSpeed{0};
 
        void setRimSpeeds(const MetersPerSecond& velocity);
        MetersPerSecond ammoVelocity_;
        Flywheels flywheels_;
 
 
    };
}