unjam_command.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_UNJAM_COMMAND_HPP_
#define TAPROOT_UNJAM_COMMAND_HPP_
 
#include <cstdint>
 
#include "tap/algorithms/ramp.hpp"
#include "tap/architecture/timeout.hpp"
#include "tap/control/command.hpp"
 
namespace tap
{
namespace control
{
namespace setpoint
{
// Forward declarations
class SetpointSubsystem;
 
class UnjamCommand : public tap::control::Command
{
public:
    UnjamCommand(
        SetpointSubsystem* setpointSubsystem,
        float unjamDisplacement,
        float unjamThreshold,
        uint32_t maxWaitTime,
        uint_fast16_t targetCycleCount);
 
    bool isReady() override;
 
    void initialize() override;
 
    void execute() override;
 
    void end(bool interrupted) override;
 
    bool isFinished() const override;
 
    const char* getName() const override { return "agitator unjam"; }
 
private:
    enum UnjamState
    {
        UNJAM_BACKWARD,
        UNJAM_FORWARD,
        JAM_CLEARED
    };
 
    void beginUnjamForwards();
 
    void beginUnjamBackwards();
 
    tap::arch::MilliTimeout unjamRotateTimeout;
 
    const uint32_t maxWaitTime;
 
    SetpointSubsystem* setpointSubsystem;
 
    float unjamDisplacement;
 
    float unjamThreshold;
 
    const uint_fast16_t targetCycleCount;
 
    uint_fast16_t backwardsCount;
 
    UnjamState currUnjamState;
 
    float setpointBeforeUnjam;
 
    float valueBeforeUnjam;
 
    bool backwardsCleared;
 
    bool forwardsCleared;
};  // class UnjamCommand
 
}  // namespace setpoint
 
}  // namespace control
 
}  // namespace tap
 
#endif  // TAPROOT_UNJAM_COMMAND_HPP_