motor_adapter.hpp

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#pragma once
#include "hal/IMotor.hpp"
 
namespace libstp::drive
{
    class MotorAdapter
    {
    public:
        explicit MotorAdapter(hal::motor::IMotor* motor);

        void setVelocity(double w_ref, double dt, bool* out_saturated = nullptr);

        [[nodiscard]] double getVelocity() const;

        void brake();

        void resetEncoderTracking();

        hal::motor::IMotor& motor();
        [[nodiscard]] const hal::motor::IMotor& motor() const;

        void updateEncoderVelocity(double dt);
 
    private:
        hal::motor::IMotor* motor_{nullptr};
 
        mutable double w_meas_filt_{0.0};
        long long pos_prev_{0};
        bool pos_prev_init_{false};
    };
}