y2020/control_loops/superstructure/turret/aiming.h

#ifndef y2020_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_
#define y2020_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_

#include "aos/flatbuffers.h"
#include "aos/robot_state/joystick_state_generated.h"
#include "frc971/control_loops/drivetrain/drivetrain_status_generated.h"
#include "frc971/control_loops/pose.h"
#include "frc971/control_loops/profiled_subsystem_generated.h"
#include "y2020/control_loops/superstructure/superstructure_status_generated.h"

namespace y2020 {
namespace control_loops {
namespace superstructure {
namespace turret {

// Returns the port that we want to score on given our current alliance. The yaw
// of the port will be such that the positive x axis points out the back of the
// target.
frc971::control_loops::Pose InnerPortPose(aos::Alliance alliance);
frc971::control_loops::Pose OuterPortPose(aos::Alliance alliance);

// This class manages taking in drivetrain status messages and generating turret
// goals so that it gets aimed at the goal.
class Aimer {
 public:
  typedef frc971::control_loops::StaticZeroingSingleDOFProfiledSubsystemGoal
      Goal;
  typedef frc971::control_loops::drivetrain::Status Status;
  Aimer();
  void Update(const Status *status, aos::Alliance alliance);
  const Goal *TurretGoal() const { return &goal_.message(); }
  // Returns the distance to the goal, in meters.
  double DistanceToGoal() const { return distance_; }

  flatbuffers::Offset<AimerStatus> PopulateStatus(
      flatbuffers::FlatBufferBuilder *fbb) const;

 private:
  aos::FlatbufferDetachedBuffer<Goal> goal_;
  bool aiming_for_inner_port_ = false;
  double distance_ = 0.0;
};

}  // namespace turret
}  // namespace superstructure
}  // namespace control_loops
}  // namespace y2020
#endif  // y2020_CONTROL_LOOPS_SUPERSTRUCTURE_TURRET_AIMING_H_