setpoint_subsystem.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * 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_SETPOINT_SUBSYSTEM_HPP_
#define TAPROOT_SETPOINT_SUBSYSTEM_HPP_
 
#include "tap/control/subsystem.hpp"
 
namespace tap
{
// Forward declaration
class Drivers;
 
namespace control
{
namespace setpoint
{
class SetpointSubsystem : public virtual tap::control::Subsystem
{
public:
    virtual inline float getSetpoint() const = 0;
 
    virtual inline void setSetpoint(float newAngle) = 0;
 
    virtual float getCurrentValue() const = 0;
 
    virtual float getJamSetpointTolerance() const = 0;
 
    virtual bool calibrateHere() = 0;
 
    virtual bool isJammed() = 0;
 
    virtual void clearJam() = 0;
 
    virtual inline bool isCalibrated() = 0;
 
    virtual inline bool isOnline() = 0;
 
    virtual inline float getVelocity() = 0;
 
};  // class SetpointSubsystem
 
}  // namespace setpoint
 
}  // namespace control
 
}  // namespace tap
 
#endif  // TAPROOT_SETPOINT_SUBSYSTEM_HPP_