35 lines
795 B
C++
35 lines
795 B
C++
#ifndef COMPLIB_SERVER_ENCODERS_HPP
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#define COMPLIB_SERVER_ENCODERS_HPP
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#include <array>
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#include <cstdint>
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#include "include/Cache.hpp"
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#include "include/Robot.hpp"
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class Encoders {
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public:
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static Encoders &getInstance() {
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static Encoders instance;
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return instance;
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}
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Encoders(Encoders const &) = delete;
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void operator=(Encoders const &) = delete;
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std::array<int32_t, ROBOT_MOTOR_COUNT> get_positions();
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std::array<double, ROBOT_MOTOR_COUNT> get_velocities_ms();
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private:
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Encoders() = default;
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Cache position_cache{ROBOT_ENCODER_RATE_HZ};
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Cache velocity_cache{ROBOT_ENCODER_RATE_HZ};
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std::array<int32_t, ROBOT_MOTOR_COUNT> cached_positions = {0};
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std::array<double, ROBOT_MOTOR_COUNT> cached_velocities_ms = {0};
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};
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#endif //COMPLIB_SERVER_ENCODERS_HPP
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