Requests.h

#pragma once
#include <frc/kinematics/ChassisSpeeds.h>
#include <frc/kinematics/MecanumDriveWheelSpeeds.h>
#include <valkyrie/controllers/BaseController.h>
 
namespace valor {
namespace mecanum {
namespace requests {

enum class OutputType {
    Velocity,

    Voltage,

    DutyCycle
};

struct ApplyChassisSpeeds {
    frc::ChassisSpeeds speeds;

    frc::Translation2d centerOfRotation = {};

    BaseController::Output frontLeftFF = 0;
    BaseController::Output frontRightFF = 0;
    BaseController::Output rearLeftFF = 0;
    BaseController::Output rearRightFF = 0;

    BaseController::Output zeroOutput = 0;

    OutputType outputType = OutputType::Velocity;

    bool discretize = true;

    bool desaturateWheelSpeeds = true;

    bool fieldRelative = true;

    units::meters_per_second_t deadband = 0_mps;
};

struct ApplyWheelSpeeds {
    frc::MecanumDriveWheelSpeeds speeds;

    BaseController::Output frontLeftFF = 0;
    BaseController::Output frontRightFF = 0;
    BaseController::Output rearLeftFF = 0;
    BaseController::Output rearRightFF = 0;

    BaseController::Output zeroOutput = 0;

    OutputType outputType = OutputType::Velocity;

    bool desaturateWheelSpeeds = true;

    units::meters_per_second_t deadband = 0_mps;
};
 
}  // namespace requests
}  // namespace mecanum
}  // namespace valor