power_quad_drive.hpp

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#pragma once
#include "control/chassis/drive/quad_drive/base_quad_drive/base_quad_drive.hpp"
#include "driver/drivers.hpp"
#include "wrap/rail/chassis/ipower_limiter_system.hpp"
 
#include <array>
#include <memory>
 
namespace fang::chassis
{
    class PowerQuadDrive : public BaseQuadDrive
    {
    public:
 
        PowerQuadDrive 
        (
            Drivers& drivers,
            Motors&& motors,
            std::unique_ptr<IPowerLimiterSystem> powerLimiter
        );
 
        virtual void setTargetWheelSpeeds(const QuadRPM& wheelSpeeds) override;
        virtual void initialize() override;
        virtual void update() override;
        virtual void refresh() override;
 
        virtual ~PowerQuadDrive() {}
    private:
        std::unique_ptr<IPowerLimiterSystem> powerLimiter_;
    };
}