modded_cascade_position.hpp

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#pragma once
 
#include "driver/motor/pid/modded_cascade_motor/modded_cascade_motor.hpp"
#include "wrap/units/units_alias.hpp"
#include "wrap/rail/motor/iposition_motor.hpp"
#include "wrap/trap/algorithms/ring_radians.hpp"
 
namespace fang::motor
{
    template <typename Output, typename Intermediate>
    class ModdedCascadePosition
        :
        public ModdedCascadeMotor
            <
            Output, 
            Radians, 
            Intermediate,
            Seconds,
            trap::algorithms::RingRadians
            >,
        virtual public IPositionMotor
    {
    public:
        using CascadeMotor = 
        ModdedCascadeMotor<
            Output, 
            Radians, 
            Intermediate,
            Seconds,
            trap::algorithms::RingRadians
        >;
 
        using Config = CascadeMotor::Config;
 
        using CascadeMotor::CascadeMotor;
 
        void setTargetPosition(const Radians& position) override
        {
            CascadeMotor::setTarget(position);
        }
    };
}