Elevator.h

 
//
// Created by Romain Pouvreau on 08/03/2026.
//
 
#ifndef ELEVATOR_H
#define ELEVATOR_H
#include "DifferentialController.h"
 
namespace HazelnutGripper
{
    class AbstractAbsoluteEncoder
    {
    public:
        virtual ~AbstractAbsoluteEncoder() = default;

        virtual float getAngle() = 0;

        virtual void init() = 0;
    };

    namespace Elevator
    {
        inline AbstractMotor* m_motor = nullptr;            
        inline AbstractAbsoluteEncoder* m_encoder = nullptr; 
        inline float m_currentAngle = 0.0f;
        inline float m_angleSetpoint = 0.0f; 
        inline PID* m_pid = nullptr;    
        constexpr float m_maxAngle = 83;
        constexpr float m_minAngle = 160.312500;
        constexpr float m_maxRange = m_minAngle - m_maxAngle;
 
        enum elevatorHeight {
            BAS = 0,
            CAPTEURS = 10,
            HAUT = static_cast<int>(m_maxRange),
        };
 

        void init(AbstractMotor* motor, AbstractAbsoluteEncoder* encoder);

        inline void setAngle(float angle) { m_angleSetpoint = m_minAngle - angle; }
 
        inline float getAngle() {return m_minAngle - m_angleSetpoint;}

        [[noreturn]] void task(void *pvParameters);

        inline void setPID(PID& pid) { m_pid = &pid; }
 
    };
}
 
#endif // ELEVATOR_H