bash_guard_subsystem.h

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#pragma once
 
#include <argos_lib/config/falcon_config.h>
#include <argos_lib/general/nt_motor_pid_tuner.h>
#include <frc2/command/SubsystemBase.h>
#include <units/length.h>
 
enum class BashGuardPosition { Retracted, Deployed, Stationary };
 
class BashGuardSubsystem : public frc2::SubsystemBase {
 public:
  explicit BashGuardSubsystem(argos_lib::RobotInstance instance);
 
  void SetExtensionSpeed(double speed);
 
  void SetExtensionLength(units::inch_t length);
 
  void Periodic() override;
 
  void UpdateBashGuardHome();
 
  bool IsBashGuardHomed();
 
  bool IsBashGuardManualOverride();
 
  void SetBashGuardManualOverride(bool overrideState);
 
  units::inch_t GetBashGuardExtension();
 
  bool IsBashGuardMoving();
 
  bool IsBashGuardMPComplete();
 
  void SetHomeFailed(bool failed);
 
  bool GetHomeFailed();
 
  ctre::phoenix::motion::BufferedTrajectoryPointStream& GetMPStream();
 
  void StopMotionProfile();
 
  void StartMotionProfile(size_t streamSize);
 
  void Disable();
 
  void Stop();
 
  int GetMotorMPBufferCount();
 
  units::inch_t DecomposeBashExtension(const BashGuardPosition& positionEnum);
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  WPI_TalonFX m_bashGuard;
  argos_lib::NTMotorPIDTuner m_bashTuner;
  bool m_bashGuardManualOverride;
  bool m_bashGuardHomed;
  bool m_bashHomeFailed;
 
  ctre::phoenix::motion::BufferedTrajectoryPointStream m_bashStream;
 
  void EnableBashGuardSoftLimits();
  void DisableBashGuardSoftLimits();
};