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;
};