EasyCRT.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <optional>
#include <wpi/units/angle.hpp>
 
namespace yams::units {
 
class EasyCRT {
 public:
  EasyCRT(int sharedGearTeeth, int encoderATeeth, int encoderBTeeth);
 
  std::optional<wpi::units::turn_t> Solve(wpi::units::turn_t encoderA,
                                          wpi::units::turn_t encoderB) const;
 
  std::optional<wpi::units::turn_t> Solve(wpi::units::turn_t encoderA, wpi::units::turn_t encoderB,
                                          wpi::units::turn_t minAngle,
                                          wpi::units::turn_t maxAngle) const;
 
  wpi::units::turn_t GetUniqueRange() const;
 
 private:
  std::optional<wpi::units::turn_t> SolveRotations(double encoderA, double encoderB,
                                                   double minRotations,
                                                   double maxRotations) const;
 
  double m_ratioA;
  double m_ratioB;
  double m_uniqueRangeRotations;
  double m_toleranceRotations;
};
 
}  // namespace yams::units