SimSupplier.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <wpi/units/angle.hpp>
#include <wpi/units/angular_acceleration.hpp>
#include <wpi/units/angular_velocity.hpp>
#include <wpi/units/current.hpp>
#include <wpi/units/length.hpp>
#include <wpi/units/velocity.hpp>
#include <wpi/units/voltage.hpp>
 
namespace yams::motorcontrollers {
 
class SimSupplier {
 public:
  virtual ~SimSupplier() = default;
 
  virtual void UpdateSim() = 0;
 
  virtual bool GetUpdatedSim() = 0;
 
  virtual void FeedUpdateSim() = 0;
 
  virtual void StarveUpdateSim() = 0;
 
  virtual bool IsInputFed() = 0;
 
  virtual void FeedInput() = 0;
 
  virtual void StarveInput() = 0;
 
  virtual void SetMechanismStatorDutyCycle(double dutyCycle) = 0;
 
  virtual wpi::units::volt_t GetMechanismSupplyVoltage() = 0;
 
  virtual wpi::units::volt_t GetMechanismStatorVoltage() = 0;
 
  virtual void SetMechanismStatorVoltage(wpi::units::volt_t volts) = 0;
 
  virtual wpi::units::turn_t GetMechanismPosition() = 0;
 
  virtual void SetMechanismPosition(wpi::units::turn_t angle) = 0;
 
  virtual wpi::units::turn_t GetRotorPosition() = 0;
 
  virtual wpi::units::turns_per_second_t GetMechanismVelocity() = 0;
 
  virtual void SetMechanismVelocity(wpi::units::turns_per_second_t velocity) = 0;
 
  virtual wpi::units::turns_per_second_t GetRotorVelocity() = 0;
 
  virtual wpi::units::turns_per_second_squared_t GetMechanismAcceleration() = 0;
 
  virtual wpi::units::turns_per_second_squared_t GetRotorAcceleration() = 0;
 
  virtual void SetRotorPosition(wpi::units::turn_t angle) = 0;
 
  virtual void SetRotorVelocity(wpi::units::turns_per_second_t velocity) = 0;
 
  virtual wpi::units::ampere_t GetStatorCurrent() = 0;
 
  virtual wpi::units::ampere_t GetSupplyCurrent() = 0;
};
 
}  // namespace yams::motorcontrollers