SmartVelocityMechanism.hpp

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// Copyright (c) 2026 Yet Another Software Suite
// SPDX-License-Identifier: LGPL-3.0-or-later
 
#pragma once
 
#include <wpi/commands2/button/Trigger.hpp>
#include <wpi/smartdashboard/MechanismLigament2d.hpp>
#include <wpi/smartdashboard/MechanismRoot2d.hpp>
 
#include "yams/mechanisms/SmartMechanism.hpp"
 
namespace yams::mechanisms::velocity {
 
class SmartVelocityMechanism : public SmartMechanism {
 public:
  SmartVelocityMechanism() : SmartMechanism() {}
  virtual ~SmartVelocityMechanism() = default;
 
  // ---- Pure virtual interface -----------------------------------------------
 
  virtual wpi::cmd::Trigger Max() = 0;
 
  virtual wpi::cmd::Trigger Min() = 0;
 
  // ---- Visualisation accessors ----------------------------------------------
 
  wpi::MechanismLigament2d* GetMechanismLigament();
 
  wpi::MechanismRoot2d* GetMechanismRoot();
 
  // ---- Motor accessor -------------------------------------------------------
 
  motorcontrollers::SmartMotorController* GetMotor();
 
 protected:
  wpi::MechanismRoot2d* m_mechanismRoot{nullptr};
 
  wpi::MechanismLigament2d* m_mechanismLigament{nullptr};
};
 
}  // namespace yams::mechanisms::velocity