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 "frc971/zeroing/pot_and_absolute_encoder.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/superstructure_goal_generated.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);
  }

  // Sets the minimum position we'll allow the intake to be at.  This forces the
  // intake to stay out far enough to avoid collisions.
  void set_min_position(double min_position) { min_position_ = min_position; }

  // Moves min_position_ to a position which won't affect any other goal
  // requests.
  void clear_min_position() {
    min_position_ = constants::Values::kIntakeRange.lower_hard;
  }

  double position() const { return profiled_subsystem_.position(); }

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

  flatbuffers::Offset<
      ::frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus>
  Iterate(const IntakeGoal *unsafe_goal,
          const ::frc971::PotAndAbsolutePosition *position, double *output,
          flatbuffers::FlatBufferBuilder *fbb);

  void Reset();

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

  State state() const { return state_; }

 private:
  State state_ = State::UNINITIALIZED;
  double min_position_;

  // The number of times in a row we've been asked to disable.
  int disable_count_ = 0;

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

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

#endif  // Y2017_CONTROL_LOOPS_SUPERSTRUCTURE_INTAKE_INTAKE_H_