Elevator/Elevator.h

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

    virtual float getAngle() = 0;
 

 
    virtual void init() = 0;
};
 
 
class Elevator
{
public:
    Elevator(AbstractMotor& motor, AbstractAbsoluteEncoder& encoder): m_motor(motor), m_encoder(encoder){}

    void setAngle(float angle) {m_angle = angle;};

    void task(void *pvParameters);
 

    void setPID(PID& pid){m_pid = &pid;}
 
 
protected:
    AbstractMotor& m_motor;
    AbstractAbsoluteEncoder& m_encoder;
 
    float m_angle; 
 
    PID* m_pid;
};
 
 
#endif //ELEVATOR_H