Merge pull request #12 from bearbotics2358/feather_can_decoder

Add initial framework for FeatherCanDecoder and ICoralIntakeDataProvider

src/main/cpp/io/FeatherCanDecoder.cpp

@@ -0,0 +1,18 @@
+#include "io/FeatherCanDecoder.h"
+
+FeatherCanDecoder::FeatherCanDecoder() {
+    m_coralIntakeAngleDegrees = 0.0;
+    m_coralCollected = false;
+}
+
+void FeatherCanDecoder::Update() {
+    // @todo Read and unpack the CAN bus data to set m_coralIntakeAngleDegrees and m_coralCollected
+}
+
+float FeatherCanDecoder::GetCoralIntakeAngleDegrees() {
+    return m_coralIntakeAngleDegrees;
+}
+
+bool FeatherCanDecoder::IsCoralCollected() {
+    return m_coralCollected;
+}

src/main/include/io/FeatherCanDecoder.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "subsystems/ICoralIntakeDataProvider.h"
+
+class FeatherCanDecoder: public ICoralIntakeDataProvider {
+public:
+    FeatherCanDecoder();
+
+    void Update();
+
+    // **** ICoralIntakeDataProvider interface functions **** //
+    float GetCoralIntakeAngleDegrees() override;
+    bool IsCoralCollected() override;
+
+private:
+    float m_coralIntakeAngleDegrees;
+    bool m_coralCollected;
+};

src/main/include/subsystems/ICoralIntakeDataProvider.h

@@ -0,0 +1,11 @@
+#pragma once
+
+class ICoralIntakeDataProvider {
+public:
+    // Provide the angle of the coral intake/delivery mechanism in degrees
+    // @todo Decide if this will return the raw angle or the offset from some fixed point (like straight out or down)
+    virtual float GetCoralIntakeAngleDegrees() = 0;
+
+    // Return a simple boolean to indicate whether a piece of coral has been collected
+    virtual bool IsCoralCollected() = 0;
+};