Chassis.h

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#ifndef RCT_CHASSIS_H_
#define RCT_CHASSIS_H_
#include <CoordinateUnit.h>
#include <Pid.h>
 
#include <chrono>
#include <cmath>
#include <cstdint>
#include <utility>
 
namespace rct {
 
 
template<class T>
struct Chassis {
  template<class F>
  Chassis(F&& f, const PidGain& vel_gain, const PidGain& pos_gain)
      : t_{std::forward<F>(f)}, vel_pid_{vel_gain}, pos_pid_{pos_gain} {}
 
  void pid_move(const Velocity& tag_vel, const Velocity& now_vel, const std::chrono::microseconds& delta_time,
                float offset_rad = 0.0) {
    const auto out_vel = vel_pid_.calc(tag_vel, now_vel, delta_time);
    t_.move(out_vel, offset_rad);
  }
  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, pos.ang_rad);
  }
 
 private:
  T t_;
  Pid<Velocity> vel_pid_;
  Pid<Coordinate> pos_pid_;
};
 
 
}  // namespace rct
 
#endif  // RCT_CHASSIS_H_