characterize_drive.hpp

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#pragma once
 
#include <map>
#include <string>
#include <vector>
 
#include "autotune/types.hpp"
#include "drive/drive.hpp"
#include "hal/odometry.hpp"
 
namespace libstp::autotune
{
    class DriveCharacterizer
    {
    public:
        DriveCharacterizer(drive::Drive& drive, odometry::IOdometry& odometry);

        [[nodiscard]] AxisResult characterizeAxis(const std::string& axis,
                                                  const CharacterizeConfig& cfg) const;

        [[nodiscard]] std::map<std::string, AxisResult>
        characterize(const std::vector<std::string>& axes,
                     const CharacterizeConfig& cfg) const;
 
    private:
        void brakeMotors() const;
 
        drive::Drive& drive_;
        odometry::IOdometry& odometry_;
    };
 
} // namespace libstp::autotune