2022-Robot/file__system__homing__storage_8h_source.html

#pragma once


#include "argos_lib/general/swerve_utils.h"

#include "wpi/fs.h"


class FileSystemHomingStorage : public argos_lib::swerve::SwerveHomeStorageInterface {

 public:

  explicit FileSystemHomingStorage(const fs::path& swerveHomesPath);

  bool Save(const argos_lib::swerve::SwerveModulePositions& homePosition) override;

  std::optional<argos_lib::swerve::SwerveModulePositions> Load() override;


 private:

  fs::path GetFilePath();

  const fs::path m_swerveHomesPath;

};

FileSystemHomingStorage
Accesses swerve module home positions in a file saved on the RoboRIO.
Definition: file_system_homing_storage.h:13

FileSystemHomingStorage::Load
std::optional< argos_lib::swerve::SwerveModulePositions > Load() override
Load absolute positions that represent 0 degree module orientations.
Definition: file_system_homing_storage.cpp:30

FileSystemHomingStorage::Save
bool Save(const argos_lib::swerve::SwerveModulePositions &homePosition) override
Save positions as new homes.
Definition: file_system_homing_storage.cpp:16

FileSystemHomingStorage::m_swerveHomesPath
const fs::path m_swerveHomesPath
Path of persistent storage file relative to home directory.
Definition: file_system_homing_storage.h:42

FileSystemHomingStorage::GetFilePath
fs::path GetFilePath()
Get the path of the file to load from and save to.
Definition: file_system_homing_storage.cpp:48

argos_lib::swerve::SwerveHomeStorageInterface
Interface capable of saving and loading module home positions from persistent storage.
Definition: swerve_utils.h:115

argos_lib::swerve::SwerveModulePositions
Representation of the absolute encoder position of each module at home position.
Definition: swerve_utils.h:77

swerve_utils.h