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AutoPyramidAlign.h
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#ifndef AUTO_PYRAMID_ALIGN_H_
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#define AUTO_PYRAMID_ALIGN_H_
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#include <math.h>
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#include "../Config/Configurable.h"
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#include "../Config/ConfigManager.h"
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#include "../Sensors/DriveEncoders.h"
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#include "../ComponentData/ComponentData.h"
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#include "../ComponentData/DrivetrainData.h"
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using namespace
data;
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using namespace
data::drivetrain;
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namespace
APA_State
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{
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enum
Enum
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{
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DISABLED,
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GO_TO_CENTER,
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WAIT_FOR_SETTLE,
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TURN
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};
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};
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class
AutoPyramidAlign :
public
Configurable
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{
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public
:
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AutoPyramidAlign();
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~AutoPyramidAlign();
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void
Tick();
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void
Start();
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void
Reset();
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void
Configure();
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private
:
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double
m_driveToCenterDistance;
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double
m_turnAngle;
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double
m_driveSpeed;
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double
m_turnSpeed;
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double
m_startRobotDist;
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double
m_startRobotAngle;
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int
m_waitForSettleTicks;
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int
m_timer;
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APA_State::Enum m_currentState;
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DrivetrainData* m_driveTrain;
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};
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#endif
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