From 00637f9108643f4dcdd376f19297124c35be1fc4 Mon Sep 17 00:00:00 2001
From: Gabriel Lima <gabrielmartinslima@gmail.com>
Date: Sat, 5 Jul 2025 00:48:13 -0300
Subject: [PATCH] Firmware: OmniBotController skeleton

---
 .../OmniBotController/OmniBotController.cpp   | 30 +++++++++++++++++++
 .../OmniBotController/OmniBotController.hpp   | 26 ++++++++++++++++
 2 files changed, 56 insertions(+)
 create mode 100644 Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.cpp
 create mode 100644 Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.hpp

diff --git a/Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.cpp b/Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.cpp
new file mode 100644
index 0000000..856842a
--- /dev/null
+++ b/Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.cpp
@@ -0,0 +1,30 @@
+/*
+ * OmniBotController.cpp
+ *
+ *  Created on: Jun 29, 2025
+ *      Author: Gabriel
+ */
+
+#include "OmniBotController.hpp"
+
+OmniBotController::OmniBotController(std::array<MotorPID*, 4> motors) :
+Executable(Log::Level::Debug, "OmniBotController"),
+motors(motors)
+{
+
+}
+
+OmniBotController::~OmniBotController() {
+
+}
+
+int32_t OmniBotController::init() {
+	return 0;
+}
+
+int32_t OmniBotController::execute() {
+	while(true){
+
+	}
+	return 0;
+}
diff --git a/Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.hpp b/Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.hpp
new file mode 100644
index 0000000..5a41317
--- /dev/null
+++ b/Firmware/OmniBot_RC/Application/Components/OmniBotController/OmniBotController.hpp
@@ -0,0 +1,26 @@
+/*
+ * OmniBotController.hpp
+ *
+ *  Created on: Jun 29, 2025
+ *      Author: Gabriel
+ */
+
+#ifndef COMPONENTS_OMNIBOTCONTROLLER_OMNIBOTCONTROLLER_HPP_
+#define COMPONENTS_OMNIBOTCONTROLLER_OMNIBOTCONTROLLER_HPP_
+
+#include <Executable.hpp>
+#include <MotorPID.hpp>
+
+#include <array>
+
+class OmniBotController : public Executable {
+public:
+	OmniBotController(std::array<MotorPID*, 4> motors);
+	virtual ~OmniBotController();
+	int32_t init();
+	int32_t execute();
+private:
+	std::array<MotorPID*, 4> motors;
+};
+
+#endif /* COMPONENTS_OMNIBOTCONTROLLER_OMNIBOTCONTROLLER_HPP_ */