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43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
//
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// Created by Johnathon Slightham on 2025-11-13.
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//
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#ifndef CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
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#define CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
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#include <string>
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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 BoundedPositionalActuator1D : public Actuator {
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public:
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BoundedPositionalActuator1D(uint8_t device_id, ModuleType type,
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double max_value, double min_value,
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double initial_position)
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: Actuator(device_id, type), m_target_position(initial_position),
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m_max_value(max_value), m_min_value(min_value),
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acm_builder(
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std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {}
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double get_position() override;
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std::string get_text() override; // no-op
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void actuate(double position) override;
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void actuate(const std::string &text) override; // no-op
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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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double m_current_position = 0;
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double m_target_position;
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double m_max_value;
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double m_min_value;
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std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> acm_builder;
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};
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#endif // CONTROL_1DPOSITIONALACTUATOR_H
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