mirror of
https://github.com/BotChain-Robots/control.git
synced 2026-03-09 16:22:26 +01:00
39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
//
|
|
// Created by Johnathon Slightham on 2025-11-13.
|
|
//
|
|
|
|
#ifndef CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
|
|
#define CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
|
|
|
|
#include <string>
|
|
|
|
#include "actuators/Actuator.h"
|
|
#include "flatbuffers/AngleControlMessageBuilder.h"
|
|
#include "flatbuffers/SensorMessageBuilder.h"
|
|
|
|
class BoundedPositionalActuator1D : public Actuator {
|
|
|
|
public:
|
|
BoundedPositionalActuator1D(uint8_t device_id, ModuleType type, double max_value,
|
|
double min_value, double initial_position)
|
|
: Actuator(device_id, type), m_target_position(initial_position), m_max_value(max_value),
|
|
m_min_value(min_value),
|
|
acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {
|
|
}
|
|
|
|
double get_position() override;
|
|
void actuate(double position) override;
|
|
|
|
std::vector<uint8_t> get_actuation_message() override;
|
|
void update_sensor_data(const Flatbuffers::sensor_value &value) override;
|
|
|
|
private:
|
|
double m_current_position = 0;
|
|
double m_target_position;
|
|
double m_max_value;
|
|
double m_min_value;
|
|
std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> acm_builder;
|
|
};
|
|
|
|
#endif // CONTROL_1DPOSITIONALACTUATOR_H
|