interpolation_maps.h

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#pragma once
 
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/length.h>
 
#include <array>
 
#include "argos_lib/general/interpolation.h"
 
namespace controllerMap {
  using argos_lib::InterpMapPoint;
 
  [[maybe_unused]] constexpr std::array driveSpeed{InterpMapPoint{-1.0, -1.0},
                                                   //    InterpMapPoint{-0.75, -0.4},
                                                   InterpMapPoint{-0.15, 0.0},
                                                   InterpMapPoint{0.15, 0.0},
                                                   //    InterpMapPoint{0.75, 0.4},
                                                   InterpMapPoint{1.0, 1.0}};
  [[maybe_unused]] constexpr std::array driveRotSpeed{
      InterpMapPoint{-1.0, -1.0}, InterpMapPoint{-0.15, 0.0}, InterpMapPoint{0.15, 0.0}, InterpMapPoint{1.0, 1.0}};
  [[maybe_unused]] constexpr std::array shoulderSpeed{
      InterpMapPoint{-1.0, -0.5}, InterpMapPoint{-0.2, 0.0}, InterpMapPoint{0.2, 0.0}, InterpMapPoint{1.0, 0.5}};
  [[maybe_unused]] constexpr std::array armExtensionSpeed{
      InterpMapPoint{-1.0, -0.5}, InterpMapPoint{-0.2, 0.0}, InterpMapPoint{0.2, 0.0}, InterpMapPoint{1.0, 0.5}};
  [[maybe_unused]] constexpr std::array wristSpeed{
      InterpMapPoint{-1.0, -0.1}, InterpMapPoint{-0.2, 0.0}, InterpMapPoint{0.2, 0.0}, InterpMapPoint{1.0, 0.1}};
  [[maybe_unused]] constexpr std::array ouiOuiSpeed{
      InterpMapPoint{-1.0, -0.1}, InterpMapPoint{-0.5, 0.0}, InterpMapPoint{0.5, 0.0}, InterpMapPoint{1.0, 0.1}};
  [[maybe_unused]] constexpr std::array bashSpeed{
      InterpMapPoint{-1.0, -0.25}, InterpMapPoint{-0.2, 0.0}, InterpMapPoint{0.2, 0.0}, InterpMapPoint{1.0, 0.25}};
}  // namespace controllerMap