flywheel_commands.h

 
#pragma once
 
#include "core/subsystems/flywheel.h"
#include "core/utils/command_structure/auto_command.h"

class SpinRPMCommand : public AutoCommand {
  public:
    SpinRPMCommand(Flywheel &flywheel, int rpm);

    bool run() override;
    std::string toString() override;
 
  private:
    // Flywheel instance to run the function on
    Flywheel &flywheel;
 
    // parameters for spin_rpm
    int rpm;
};

class WaitUntilUpToSpeedCommand : public AutoCommand {
  public:
    WaitUntilUpToSpeedCommand(Flywheel &flywheel, int threshold_rpm);

    bool run() override;
    std::string toString() override;
 
  private:
    // Flywheel instance to run the function on
    Flywheel &flywheel;
 
    // if the actual speed is equal to the desired speed +/- this value, we are ready to fire
    int threshold_rpm;
};

class FlywheelStopCommand : public AutoCommand {
  public:
    FlywheelStopCommand(Flywheel &flywheel);

    bool run() override;
 
    /*
     * Returns a string describing the commands functionality
     */
    std::string toString() override;
 
  private:
    // Flywheel instance to run the function on
    Flywheel &flywheel;
};

class FlywheelStopMotorsCommand : public AutoCommand {
  public:
    FlywheelStopMotorsCommand(Flywheel &flywheel);

    bool run() override;
 
    /*
     * Returns a string describing the commands functionality
     */
    std::string toString() override;
 
  private:
    // Flywheel instance to run the function on
    Flywheel &flywheel;
};

class FlywheelStopNonTasksCommand : public AutoCommand {
    FlywheelStopNonTasksCommand(Flywheel &flywheel);

    bool run() override;
 
    /*
     * Returns a string describing the commands functionality
     */
    std::string toString() override;
 
  private:
    // Flywheel instance to run the function on
    Flywheel &flywheel;
};