modded_cascade_gm6020.hpp

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#pragma once
 
#include "modded_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 ModdedCascadeGm6020
    :
    public ModdedCascadePosition<trap::motor::DjiMotorOutput, RPM>
{
public:
    using Motor = trap::motor::DjiGM6020;
    using PidMotor = ModdedCascadePosition<trap::motor::DjiMotorOutput, RPM>;
 
    struct Config{
        Motor::Config motorConfig;
        PidMotor::Config pidMotorConfig;
    };
 
    ModdedCascadeGm6020(
        Drivers& drivers,
        const Config& config,
        std::unique_ptr<MainModder> mainModder = std::make_unique<trap::algorithms::NullPidModder<RPM>>(),
        std::unique_ptr<IntermediateModder> intermediateModder  = std::make_unique<trap::algorithms::NullPidModder<trap::motor::DjiMotorOutput>>()
    ):
        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)
        };
    }
};
}