using System;
using MDCSToolBox.Clumsy.AgvInterfaces;
using MDCSToolBox.Clumsy.MotionControllers;

namespace MultiWheelC;

public class AGV : MultiWheelInterface
{
    public override AbstractGeometricController GetController()
    {
        return new ChassisController().Get();
    }

    public override MultiWheelMagTracker GetMagController()
    {
        throw new NotImplementedException("Tutorial MultiWheelC does not implement magnetic tracking.");
    }

    public override NaiveMagnetController GetNaiveMagnetController()
    {
        throw new NotImplementedException("Tutorial MultiWheelC does not implement naive magnetic tracking.");
    }

    public void FleetGo(float srcX, float srcY, int srcId, float dstX, float dstY, int dstId, int trackId,
        float speed = -1, bool reverse = false, float carDirectionBias = 0)
    {
        BasicGo(srcX, srcY, srcId, dstX, dstY, dstId, trackId, speed, reverse, carDirectionBias,
            multiVehicleSync: true);
    }
}