y2017/control_loops/superstructure/superstructure.h

#ifndef Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
#define Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_

#include <memory>

#include "aos/events/event_loop.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/state_feedback_loop.h"
#include "y2017/control_loops/superstructure/column/column.h"
#include "y2017/control_loops/superstructure/hood/hood.h"
#include "y2017/control_loops/superstructure/intake/intake.h"
#include "y2017/control_loops/superstructure/shooter/shooter.h"
#include "y2017/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2017/control_loops/superstructure/superstructure_output_generated.h"
#include "y2017/control_loops/superstructure/superstructure_position_generated.h"
#include "y2017/control_loops/superstructure/superstructure_status_generated.h"
#include "y2017/control_loops/superstructure/vision_distance_average.h"

namespace y2017::control_loops::superstructure {

class Superstructure
    : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
 public:
  explicit Superstructure(::aos::EventLoop *event_loop,
                          const ::std::string &name = "/superstructure");

  const hood::Hood &hood() const { return hood_; }
  const intake::Intake &intake() const { return intake_; }
  const shooter::Shooter &shooter() const { return shooter_; }
  const column::Column &column() const { return column_; }

  // Sets the ignore collisions bit.  This should *not* be used on the robot.
  void set_ignore_collisions(bool ignore_collisions) {
    ignore_collisions_ = ignore_collisions;
  }

 protected:
  virtual void RunIteration(const Goal *unsafe_goal, const Position *position,
                            aos::Sender<Output>::Builder *output,
                            aos::Sender<Status>::Builder *status) override;

 private:
  ::aos::Fetcher<::y2017::vision::VisionStatus> vision_status_fetcher_;
  ::aos::Fetcher<::frc971::control_loops::drivetrain::Status>
      drivetrain_status_fetcher_;

  hood::Hood hood_;
  intake::Intake intake_;
  shooter::Shooter shooter_;
  column::Column column_;

  // If true, we ignore collisions.
  bool ignore_collisions_ = false;

  VisionDistanceAverage distance_average_;

  ::frc971::shooter_interpolation::InterpolationTable<
      ::y2017::constants::Values::ShotParams>
      shot_interpolation_table_;

  DISALLOW_COPY_AND_ASSIGN(Superstructure);
};

}  // namespace y2017::control_loops::superstructure

#endif  // Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_