shuriken_command.hpp

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#ifndef FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_COMMAND_SHURIKEN_COMMAND_HPP
#define FANG_ROBOTICS_MCB_CONTROL_CHASSIS_HOLONOMIC_COMMAND_SHURIKEN_COMMAND_HPP
#include "counter_strike_command.hpp"
#include "control/chassis/algorithms/basic_downscaler.hpp"
 
#include "tap/control/command.hpp"
 
namespace fang::chassis 
{
    class ShurikenCommand: public CounterStrikeCommand
    {
    public:
        using MotionConfig = CounterStrikeCommand::Config;
        struct Config
        {
            physics::Velocity2D maxTranslation;
            RPM shurikenSpeed;
            double downscaleCoefficient;
        };
        ShurikenCommand
        (
            HolonomicSubsystem& chassisSubsystem,
            const turret::FieldGimbalSubsystem& gimbal,
            ChassisInputHandler& input,
            const Config& config
        );
        virtual ~ShurikenCommand() = default;
        const char* getName() const override;
        void execute() override;
    protected:
        RPM getFieldRotation(const physics::Velocity2D& targetFieldTranslation) const;
 
    private:
        static constexpr const char* kName{"Shuriken"};
 
        const Config kConfig_;
        const BasicDownscaler kDownscaler_;
    };
}
#endif