field_gimbal.hpp

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#pragma once
 
#include "control/turret/gimbal/field_gimbal_subsystem.hpp"
#include "driver/drivers.hpp"
#include "wrap/rail/turret/ifield_yaw_system.hpp"
#include "wrap/rail/turret/ifield_pitch_system.hpp"
 
#include <memory>
 
namespace fang::turret
{
    class FieldGimbal: public FieldGimbalSubsystem
    {
    public:
        FieldGimbal
        (
            Drivers& drivers,
            std::unique_ptr<IFieldPitchSystem> pitchSystem,
            std::unique_ptr<IFieldYawSystem> yawSystem
        );
 
        virtual ~FieldGimbal() = default;
 
        void initialize() override;
        void update() override;
        void refresh() override;
        void setTargetFieldPitch(const Radians& pitch) override;
        void setTargetFieldYaw(const Radians& yaw) override;
 
        Radians getTargetFieldPitch() const override;
        Radians getTargetFieldYaw() const override;
        
 
    private:
        std::unique_ptr<IFieldPitchSystem> pitchSystem_;
        std::unique_ptr<IFieldYawSystem> yawSystem_;
        Radians targetFieldPitch_{0};
        Radians targetFieldYaw_{0};
    };
}