encoder_calibrator.hpp

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#pragma once
 
#include "autotune/types.hpp"
#include "drive/drive.hpp"
#include "hal/odometry.hpp"
 
namespace libstp::autotune
{
    class EncoderCalibrator
    {
    public:
        EncoderCalibrator(drive::Drive& drive, odometry::IOdometry& odometry);
 
        [[nodiscard]] EncoderCalResult calibrate(const EncoderCalConfig& cfg) const;
 
    private:
        drive::Drive&        drive_;
        odometry::IOdometry& odometry_;
    };
 
} // namespace libstp::autotune