vibration.h

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#pragma once
 
#include <units/time.h>
 
#include <functional>
 
namespace argos_lib {
 
  struct VibrationStatus {
    double intensityLeft = 0.0;   
    double intensityRight = 0.0;  
  };
 
  using VibrationModel = std::function<VibrationStatus()>;
 
  VibrationModel VibrationOff();
 
  VibrationModel VibrationConstant(double intensity);
 
  VibrationModel VibrationConstant(double intensityLeft, double intensityRight);
 
  VibrationModel VibrationSyncPulse(units::millisecond_t pulsePeriod, double intensityOn, double intensityOff = 0.0);
 
  VibrationModel VibrationSyncWave(units::millisecond_t pulsePeriod, double intensityOn, double intensityOff = 0.0);
 
  VibrationModel VibrationAlternatePulse(units::millisecond_t pulsePeriod,
                                         double intensityOn,
                                         double intensityOff = 0.0);
 
  VibrationModel VibrationAlternateWave(units::millisecond_t pulsePeriod,
                                        double intensityOn,
                                        double intensityOff = 0.0);
 
  VibrationModel TemporaryVibrationPattern(VibrationModel temporaryModel,
                                           units::millisecond_t temporaryModelDuration,
                                           VibrationModel lastingModel = VibrationOff());
 
}  // namespace argos_lib