ChassisAuto.h

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#ifndef RCT_CHASSIS_AUTO_H_
#define RCT_CHASSIS_AUTO_H_
#include <CoordinateUnit.h>
#include <Pid.h>
 
#include <chrono>
#include <cmath>
#include <cstdint>
#include <utility>
 
namespace rct {
 
 
template<class T>
struct ChassisAuto {
  template<class F>
  ChassisAuto(F&& f, const PidGain& pos_gain) : t_{std::forward<F>(f)}, pos_pid_{pos_gain} {}
 
  void auto_move(const Coordinate& dst, const Coordinate& pos, const std::chrono::microseconds& delta_time) {
    const auto out_vel = pos_pid_.calc(dst, pos, delta_time) / std::chrono::seconds{1};
    t_.move(out_vel);
  }
 
 private:
  T t_;
  Pid<Coordinate> pos_pid_;
};
 
 
}  // namespace rct
 
#endif  // RCT_CHASSIS_AUTO_H_