Initial commit - test serial

SerialTest/include/okapi/impl/control/iterative/iterativeControllerFactory.hpp

@@ -0,0 +1,120 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/control/iterative/iterativeMotorVelocityController.hpp"
+#include "okapi/api/control/iterative/iterativePosPidController.hpp"
+#include "okapi/api/control/iterative/iterativeVelPidController.hpp"
+#include "okapi/api/util/mathUtil.hpp"
+#include "okapi/impl/device/motor/motor.hpp"
+#include "okapi/impl/device/motor/motorGroup.hpp"
+#include "okapi/impl/filter/velMathFactory.hpp"
+
+namespace okapi {
+class IterativeControllerFactory {
+  public:
+  /**
+   * Position PID controller.
+   *
+   * @param ikP proportional gain
+   * @param ikI integral gain
+   * @param ikD derivative gain
+   * @param ikBias controller bias (constant offset added to the output)
+   * @param iderivativeFilter A filter for filtering the derivative term.
+   * @param ilogger The logger this instance will log to.
+   */
+  static IterativePosPIDController
+  posPID(double ikP,
+         double ikI,
+         double ikD,
+         double ikBias = 0,
+         std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+         const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Velocity PD controller.
+   *
+   * @param ikP proportional gain
+   * @param ikD derivative gain
+   * @param ikF feed-forward gain
+   * @param ikSF a feed-forward gain to counteract static friction
+   * @param iderivativeFilter A filter for filtering the derivative term.
+   * @param ilogger The logger this instance will log to.
+   */
+  static IterativeVelPIDController
+  velPID(double ikP,
+         double ikD,
+         double ikF = 0,
+         double ikSF = 0,
+         std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
+         std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+         const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Velocity PD controller that automatically writes to the motor.
+   *
+   * @param imotor output motor
+   * @param ikP proportional gain
+   * @param ikD derivative gain
+   * @param ikF feed-forward gain
+   * @param ikSF a feed-forward gain to counteract static friction
+   * @param ivelMath The VelMath.
+   * @param iderivativeFilter A filter for filtering the derivative term.
+   * @param ilogger The logger this instance will log to.
+   */
+  static IterativeMotorVelocityController
+  motorVelocity(Motor imotor,
+                double ikP,
+                double ikD,
+                double ikF = 0,
+                double ikSF = 0,
+                std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
+                std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+                const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Velocity PD controller that automatically writes to the motor.
+   *
+   * @param imotor output motor
+   * @param ikP proportional gain
+   * @param ikD derivative gain
+   * @param ikF feed-forward gain
+   * @param ikSF a feed-forward gain to counteract static friction
+   * @param ivelMath The VelMath.
+   * @param iderivativeFilter A filter for filtering the derivative term.
+   * @param ilogger The logger this instance will log to.
+   */
+  static IterativeMotorVelocityController
+  motorVelocity(MotorGroup imotor,
+                double ikP,
+                double ikD,
+                double ikF = 0,
+                double ikSF = 0,
+                std::unique_ptr<VelMath> ivelMath = VelMathFactory::createPtr(imev5GreenTPR),
+                std::unique_ptr<Filter> iderivativeFilter = std::make_unique<PassthroughFilter>(),
+                const std::shared_ptr<Logger> &ilogger = Logger::getDefaultLogger());
+
+  /**
+   * Velocity PD controller that automatically writes to the motor.
+   *
+   * @param imotor output motor
+   * @param icontroller controller to use
+   */
+  static IterativeMotorVelocityController
+  motorVelocity(Motor imotor,
+                std::shared_ptr<IterativeVelocityController<double, double>> icontroller);
+
+  /**
+   * Velocity PD controller that automatically writes to the motor.
+   *
+   * @param imotor output motor
+   * @param icontroller controller to use
+   */
+  static IterativeMotorVelocityController
+  motorVelocity(MotorGroup imotor,
+                std::shared_ptr<IterativeVelocityController<double, double>> icontroller);
+};
+} // namespace okapi