ladybrown.h

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#pragma once
 
#include "lemlib/pid.hpp"
namespace Robot {

class LadyBrown {
public:
   // The ENUM associates with each location of the rotation sensor for the LadyBrown to move.
   enum LADYBROWN_STATE { BASE_STATE = 1, LOAD_STATE = 2, ATTACK_STATE = 3, SIZECHECK_STATE = 4 };
 
   void run(bool async = true, int timeout = 1000);
 
   void MoveToPoint(LadyBrown::LADYBROWN_STATE state, int max_error = 150, int timeout = 1000);
 
   LadyBrown();
 
   int get_target();
 
private:
   lemlib::PID MoveToPointPID;
 
   lemlib::PID ActiveBrakePID;
 
   int brake_target;
 
   static LADYBROWN_STATE current_state;
 
   int target;
 
   bool isPIDRunning;
 
   bool manualControl;
};
} // namespace Robot