Requests.h

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

enum class OutputType {
    Velocity,

    Voltage,

    DutyCycle
};

struct ApplyChassisSpeeds {
    frc::ChassisSpeeds speeds;

    frc::Translation2d centerOfRotation = {};

    std::vector<BaseController::Output> feedforwards = {};

    BaseController::Output zeroOutput = 0;

    OutputType outputType = OutputType::Velocity;

    bool discretize = true;

    bool desaturateWheelSpeeds = true;

    bool optimizeModules = true;

    bool cosineScaling = true;

    bool fieldRelative = true;

    units::meters_per_second_t deadband = 0_mps;
};
 
struct TrackAngularPosition : public ApplyChassisSpeeds {
    frc::Rotation2d targetDirection;
};

struct ApplyStates {
    std::vector<frc::SwerveModuleState> states;

    std::vector<BaseController::Output> feedforwards = {};

    BaseController::Output zeroOutput = 0;

    OutputType outputType = OutputType::Velocity;

    bool optimizeModules = true;

    bool cosineScaling = true;

    bool desaturateWheelSpeeds = true;

    units::meters_per_second_t deadband = 0_mps;
};

struct ApplyState {
    frc::SwerveModuleState state;

    BaseController::Output zeroOutput = 0;

    BaseController::Output feedforward = 0;

    OutputType outputType = OutputType::Velocity;

    bool optimize = true;

    bool cosineScaling = true;

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