y2017/control_loops/superstructure/intake/intake.h

#ifndef Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_INTAKE_INTAKE_H_
#define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_INTAKE_INTAKE_H_

#include "frc971/control_loops/profiled_subsystem.h"
#include "y2017/control_loops/superstructure/superstructure.q.h"

namespace y2017 {
namespace control_loops {
namespace superstructure {
namespace intake {

class Intake {
 public:
  Intake();
  double goal(int row, int col) const {
    return profiled_subsystem_.goal(row, col);
  }

  // The zeroing and operating voltages.
  static constexpr double kZeroingVoltage = 2.5;
  static constexpr double kOperatingVoltage = 12.0;

  void Iterate(const control_loops::IntakeGoal *unsafe_goal,
               const ::frc971::PotAndAbsolutePosition *position, double *output,
               ::frc971::control_loops::AbsoluteProfiledJointStatus *status);

  void Reset();

  enum class State : int32_t {
    UNINITIALIZED,
    DISABLED_INITIALIZED,
    ZEROING,
    RUNNING,
    ESTOP,
  };

  State state() const { return state_; }

 private:
  State state_;

  ::frc971::control_loops::SingleDOFProfiledSubsystem<
      ::frc971::zeroing::PotAndAbsEncoderZeroingEstimator> profiled_subsystem_;
};

}  // namespace intake
}  // namespace superstructure
}  // namespace control_loops
}  // namespace y2017

#endif  // Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_INTAKE_INTAKE_H_