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35 lines
1.0 KiB
C++
35 lines
1.0 KiB
C++
//
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// Created by Johnathon Slightham on 2025-11-13.
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//
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#ifndef CONTROL_1DPOSITIONALACTUATOR_H
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#define CONTROL_1DPOSITIONALACTUATOR_H
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#include "actuators/Actuator.h"
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#include "flatbuffers/AngleControlMessageBuilder.h"
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#include "flatbuffers/SensorMessageBuilder.h"
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class PositionalActuator1D final : public Actuator {
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public:
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PositionalActuator1D(uint8_t device_id, ModuleType type)
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: Actuator(device_id, type),
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m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {};
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double get_position() override;
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void actuate(double position) override;
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void actuate(double x, double y) override; // no-op
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std::vector<uint8_t> get_actuation_message() override;
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void update_sensor_data(const Flatbuffers::sensor_value &value) override;
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private:
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void update_loop();
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double m_target_position = 0;
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double m_current_position = 0;
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double m_board_target_position = 0;
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std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> m_acm_builder;
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};
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#endif // CONTROL_1DPOSITIONALACTUATOR_H
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