static_friction.hpp

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#pragma once
 
#include <map>
#include <vector>
 
#include "autotune/types.hpp"
#include "hal/IMotor.hpp"
 
namespace libstp::autotune
{
    class StaticFrictionMeasurer
    {
    public:
        explicit StaticFrictionMeasurer(const std::vector<hal::motor::IMotor*>& motors);

        [[nodiscard]] StaticFrictionResult measureMotor(
            hal::motor::IMotor*         motor,
            const StaticFrictionConfig& cfg) const;

        [[nodiscard]] std::map<int, StaticFrictionResult> measure(
            const StaticFrictionConfig& cfg) const;
 
    private:
        std::vector<hal::motor::IMotor*> motors_;
    };
 
} // namespace libstp::autotune