BasicTurnStrategy.h

//
// Created by awing on 21/11/25.
//
 
#include "PositionController.h"
#include "DCMotor.h"
#include "VelocityController.h"
#include "PositionController.h"
 
#ifndef TEAM2026_BASICTURNSTRATEGY_H
#define TEAM2026_BASICTURNSTRATEGY_H
 
/*extern DCMotorsDriver driver;
extern DCMotor leftWheel;
extern DCMotor rightWheel;
extern VelocityController velocityControl;
extern PositionController positionControl;*/
 
class BasicTurnStrategy : public AbstractMoveStrategy {
public:
    virtual ~BasicTurnStrategy() = default;
    PID ang_pid = {};
    PID lin_pid = {};
protected:
    void computeVelSetpoints(float timestep) override;
    bool getPositionReached() override;
};
 
#endif //TEAM2026_BASICMOVESTRATEGY_H