ChassisPid.h

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#ifndef RCT_CHASSIS_PID_H_
#define RCT_CHASSIS_PID_H_
#include <CoordinateUnit.h>
#include <Pid.h>
 
#include <chrono>
#include <cmath>
#include <cstdint>
#include <utility>
 
namespace rct {
 
 
template<class T>
struct ChassisPid {
  template<class F>
  ChassisPid(F&& f, const PidGain& vel_gain) : t_{std::forward<F>(f)}, vel_pid_{vel_gain} {}
 
  void pid_move(const Velocity& tag_vel, const Velocity& now_vel, const std::chrono::microseconds& delta_time,
                const float offset_rad = {}) {
    const auto out_vel = vel_pid_.calc(tag_vel, now_vel, delta_time);
    t_.move(out_vel, offset_rad);
  }
 
  auto move(const Velocity& vel, const float offset_rad = {}) {
    t_.move(vel, offset_rad);
  }
 
  auto refresh() {
    return vel_pid_.refresh();
  }
 
 private:
  T t_;
  Pid<Velocity> vel_pid_;
};
 
 
}  // namespace rct
 
#endif  // RCT_CHASSIS_PID_H_