TurnOnTheSpot.h

#ifndef __TURNONTHESPOT_H__
#define __TURNONTHESPOT_H__
 
#include "PositionController.h"
#include "Odometry.h"
 
#include <cmath>

class TurnOnTheSpot : public AbstractMoveStrategy
{
public:
    TurnOnTheSpot() : m_direction(TRIG){}
    enum Direction {TRIG=1, CLOCK=-1};
    void setDirection(Direction direction);
protected:
 
    void computeVelSetpoints(float timestep) override;
    bool getPositionReached() override;
 
private:
    Direction m_direction;
};
 
#endif // __TURNONTHESPOT_H__