y2023_bot3/control_loops/superstructure/superstructure.h

#ifndef Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_
#define Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_

#include "aos/events/event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/control_loops/control_loop.h"
#include "frc971/control_loops/drivetrain/drivetrain_can_position_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "y2023_bot3/constants.h"
#include "y2023_bot3/constants/constants_generated.h"
#include "y2023_bot3/control_loops/superstructure/end_effector.h"
#include "y2023_bot3/control_loops/superstructure/pivot_joint.h"
#include "y2023_bot3/control_loops/superstructure/superstructure_goal_generated.h"
#include "y2023_bot3/control_loops/superstructure/superstructure_output_generated.h"
#include "y2023_bot3/control_loops/superstructure/superstructure_position_generated.h"
#include "y2023_bot3/control_loops/superstructure/superstructure_status_generated.h"

namespace y2023_bot3 {
namespace control_loops {
namespace superstructure {

class Superstructure
    : public ::frc971::controls::ControlLoop<Goal, Position, Status, Output> {
 public:
  using PotAndAbsoluteEncoderSubsystem =
      ::frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystem<
          ::frc971::zeroing::PotAndAbsoluteEncoderZeroingEstimator,
          ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>;

  explicit Superstructure(::aos::EventLoop *event_loop,
                          std::shared_ptr<const constants::Values> values,
                          const ::std::string &name = "/superstructure");

  double robot_velocity() const;

  inline const EndEffector &end_effector() const { return end_effector_; }

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

 private:
  // Returns the Y coordinate of a game piece given the time-of-flight reading.
  std::optional<double> LateralOffsetForTimeOfFlight(double reading);

  std::shared_ptr<const constants::Values> values_;
  EndEffector end_effector_;

  aos::Alliance alliance_ = aos::Alliance::kInvalid;

  PivotJoint pivot_joint_;

  DISALLOW_COPY_AND_ASSIGN(Superstructure);
};

}  // namespace superstructure
}  // namespace control_loops
}  // namespace y2023_bot3

#endif  // Y2023_CONTROL_LOOPS_SUPERSTRUCTURE_SUPERSTRUCTURE_H_