simple_feeder.hpp

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#pragma once
 
#include "driver/drivers.hpp"
 
#include "control/turret/feeder/simple_feeder_subsystem.hpp"
#include "control/turret/util/heat_limiter.hpp"
#include "wrap/rail/motor/ispeed_motor.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::turret
{   
    class SimpleFeeder : public SimpleFeederSubsystem 
    {
    public:
        using Motor = motor::ISpeedMotor;
        using HeatLimiter = fang::turret::HeatLimiter;
        struct Config
        {
            int roundsPerRevolution;
            Hertz feedRate;
            RPM unjamSpeed;
            HeatLimiter::Config heatLimiterConfig;
        };
 
        SimpleFeeder(Drivers& drivers, std::unique_ptr<Motor> feedMotor, const Config& config);
 
        void feedOn() override;
        void feedOff() override;
 
        void unjamOn() override;
        void unjamOff() override;
 
        bool getActiveStatus();
 
        void initialize() override;
        void update() override;
        void refresh() override;
    private:
        RPM feedRateToRPM();
 
        static constexpr RPM kStillSpeed_{0.0};
 
        std::unique_ptr<Motor> feedMotor_;
        const int kRoundsPerRevolution_;
        const Hertz kFeedRate_;
        const RPM kUnjamSpeed_;
        HeatLimiter  heatLimiter_;
 
        bool activeStatus_{false};
 
    };  
}