turret_input_handler.hpp

Go to the documentation of this file.

#ifndef FANG_ROBOTICS_MCB_TURRET_INPUT_HANDLER_HPP
#define FANG_ROBOTICS_MCB_TURRET_INPUT_HANDLER_HPP
 
#include "wrap/rail/turret/iturret_input_handler.hpp"
 
#include "tap/communication/serial/remote.hpp"
namespace fang::turret
{
    class TurretInputHandler : public ITurretInputHandler
    {
    public:
        using Remote = tap::communication::serial::Remote;
        struct RemoteConfig
        {
            Remote::Channel pitchChannel;
            Remote::Channel yawChannel;
            Remote::Channel rotationChannel;
        };
 
        struct MouseConfig
        {
            double pitchPercentagePerPx;
            double yawPercentagePerPx;
        };
 
        struct Config
        {
            RemoteConfig remoteConfig;
            MouseConfig mouseConfig;
        };
 
        TurretInputHandler(Remote& remote, const Config& config);
 
        double getPitch() const override;
        double getYaw() const override;
        bool getFire() const;
    private:
        static constexpr double mk_abstractMin{-1.0};
        static constexpr double mk_abstractMax{1.0};
 
        double getRemotePitch() const;
        double getRemoteYaw() const;
 
        double getMousePitch() const;
        double getMouseYaw() const;
        static constexpr double mk_firingWheelThreshold{750};
        Remote& m_remote;
 
        const RemoteConfig mk_remoteConfig;
        const MouseConfig mk_mouseConfig;
    };
}
#endif