LRT13  1.0
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RoutineRecorder.h
1 #ifndef ROUTINE_RECORDER_H_
2 #define ROUTINE_RECORDER_H_
3 
4 #include "Component.h"
5 #include "../ComponentData/RoutineRecorderData.h"
6 #include "../ComponentData/DrivetrainData.h"
7 #include "../ComponentData/CollectorData.h"
8 #include "../ComponentData/ShooterData.h"
9 #include "../Sensors/DriveEncoders.h"
10 
15 class RoutineRecorder : public Component
16 {
17 public:
19  ~RoutineRecorder();
20 
21  virtual void onEnable();
22  virtual void onDisable();
23 
24  virtual void enabledPeriodic();
25  virtual void disabledPeriodic();
26 
27  typedef struct Step
28  {
29  double forward;
30  double turn;
31  };
32 
33  typedef struct Cycle
34  {
35  double forward;
36  double turn;
37  bool collecting;
38  bool shooting;
39  bool angleHigh;
40  };
41 private:
42  DriveEncoders* m_driveEncoders;
43  queue<Cycle> m_routine;
44  bool m_lastRecording;
45  ofstream m_file;
46 };
47 
48 #endif