PivotConfig.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 <string>
#include <wpi/units/angle.hpp>
#include <wpi/units/angular_velocity.hpp>
#include <wpi/units/moment_of_inertia.hpp>
#include <wpi/util/Color.hpp>
#include <wpi/util/Color8Bit.hpp>
 
#include "yams/mechanisms/config/MechanismPositionConfig.hpp"
 
namespace yams::mechanisms::config {
 
class PivotConfig {
 public:
  PivotConfig() = default;
 
  // ---- Builder methods -------------------------------------------------------
 
  PivotConfig& WithTelemetryName(const std::string& name);
 
  PivotConfig& WithMinAngle(wpi::units::degree_t angle);
 
  PivotConfig& WithMaxAngle(wpi::units::degree_t angle);
 
  PivotConfig& WithSimColor(const wpi::util::Color8Bit& color);
 
  PivotConfig& WithMechanismPositionConfig(const MechanismPositionConfig& mechanismPositionConfig) {
    m_mechanismPositionConfig = mechanismPositionConfig;
    return *this;
  }
 
  // ---- Getters ---------------------------------------------------------------
 
  std::string GetTelemetryName() const;
 
  std::optional<wpi::units::degree_t> GetMinAngle() const;
 
  std::optional<wpi::units::degree_t> GetMaxAngle() const;
 
  wpi::util::Color8Bit GetSimColor() const;
 
  const MechanismPositionConfig& GetMechanismPositionConfig() const { return m_mechanismPositionConfig; }
 
 private:
  std::string m_telemetryName;
  std::optional<wpi::units::degree_t> m_minAngle;
  std::optional<wpi::units::degree_t> m_maxAngle;
  wpi::util::Color8Bit m_simColor{wpi::util::Color::GREEN};
  // A pivot, such as a turret, turns in the XY plane unless given a MechanismPositionConfig, as in
  // Java.
  MechanismPositionConfig m_mechanismPositionConfig{
      MechanismPositionConfig{}.WithMovementPlane(MechanismPositionConfig::Plane::XY)};
};
 
}  // namespace yams::mechanisms::config