Finish drive distance, finish turn_angle

server_v2/include/GoToController.hpp

@@ -0,0 +1,33 @@
+//
+// Created by KonstantinViesure on 26.05.22.
+//
+
+#ifndef COMPLIB_SERVER_GOTOCONTROLLER_HPP
+#define COMPLIB_SERVER_GOTOCONTROLLER_HPP
+
+
+class GoToController {
+public:
+  static GoToController &getInstance() {
+    static GoToController instance;
+    return instance;
+  }
+
+  GoToController(GoToController const &) = delete;
+
+  void operator=(GoToController const &) = delete;
+
+  static void drive_distance(double distance_m, double v_ms);
+
+  static void turn_degrees(double angle_deg, double v_rad_s);
+
+  static void go_to_point(double goal_x, double goal_y, double v_ms);
+
+  static void diff_drive_inverse_kinematics(double v_m_s, double w_rad_s);
+
+private:
+  GoToController() = default;
+};
+
+
+#endif //COMPLIB_SERVER_GOTOCONTROLLER_HPP