counter_strike_command.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_COMMAND_COUNTER_STRIKE_COMMAND_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_COMMAND_COUNTER_STRIKE_COMMAND_HPP
#include "field_drift_command.hpp"
 
#include "control/chassis/chassis_input_handler.hpp"
#include "control/turret/gimbal/field_gimbal_subsystem.hpp"
 
#include "tap/control/command.hpp"
 
namespace fang::chassis
{
    class CounterStrikeCommand : public FieldDriftCommand 
    {
    public:
        using Config = FieldDriftCommand::Config;
 
        CounterStrikeCommand
        (
            HolonomicSubsystem& holonomicSubsystem,
            const turret::FieldGimbalSubsystem& gimbal,
            ChassisInputHandler& inputHandler,
            const Config& config
        );
 
        virtual ~CounterStrikeCommand() = default;
 
        const char* getName() const override;
        void execute() override;
 
    protected:
        physics::Velocity2D getFieldTranslation() const;
 
        RPM getFieldRotation() const;
 
        static constexpr const char* kName{"Counter Strike Global!"};
 
        const turret::FieldGimbalSubsystem& gimbal_; //We don't want the command to alter the turret state
        const Config kConfig_;
    };
}//namespace chassis
#endif