RotationalSingleAxisSubsystem.h

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#pragma once
 
#include <string>
 
#include "subzero/singleaxis/BaseSingleAxisSubsystem.h"
 
namespace subzero {

template <typename TController>
class RotationalSingleAxisSubsystem
    : public BaseSingleAxisSubsystem<TController, units::degree> {
public:
  RotationalSingleAxisSubsystem(
      std::string name, TController &controller,
      ISingleAxisSubsystem<units::degree>::SingleAxisConfig config,
      units::meter_t armatureLength, frc::MechanismObject2d *node = nullptr)
      : BaseSingleAxisSubsystem<TController, units::degree>{name, controller,
                                                            config, node},
        m_armatureLength{armatureLength} {}
 
  void Periodic() override;
 
  void RunMotorVelocity(units::degrees_per_second_t speed,
                        bool ignoreEncoder = false) override;
 
protected:
  units::meter_t m_armatureLength;
};
} // namespace subzero