ITurnToTarget.h

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#pragma once
 
#include <frc/controller/HolonomicDriveController.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Rotation2d.h>
#include <frc/kinematics/ChassisSpeeds.h>
 
namespace subzero {
 
class ITurnToTarget {
public:
  virtual frc::ChassisSpeeds GetSpeedCorrection() = 0;
  virtual frc::ChassisSpeeds BlendWithInput(const frc::ChassisSpeeds &other,
                                            double correctionFactor) = 0;
  virtual bool AtGoal() = 0;
  virtual void Update() = 0;
};
} // namespace subzero