ControllerSystem.h

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#ifndef RENSSELAERMOTORSPORT_CONTROLLER_SYSTEM_H
#define RENSSELAERMOTORSPORT_CONTROLLER_SYSTEM_H
 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
 
#include "System.h"
#include "MonitorSystem.h"
 
#define MAX_MONITORS 10
 
typedef enum {
    c_TORQUE,
    c_APPS,
    c_BRAKES,
} ControllerType;
 
typedef struct {
    System system;
    ControllerType type;
    MonitorSystem* monitors[MAX_MONITORS]; // What monitors are associated with this controller?
    int num_monitors;
    int (*safety)(void* self); // Check if the controller is operating safely
    int (*addMonitor)(void* self, MonitorSystem* monitor); // Add a monitor to the controller
    int (*removeMonitor)(void* self, MonitorSystem* monitor); // Remove a monitor from the controller
} ControllerSystem;
 
void initControllerSystem(ControllerSystem* controller, const char* name, int hz,
                          ControllerType type);
 
int defaultAddMonitor(void* self, MonitorSystem* monitor);
 
int defaultRemoveMonitor(void* self, MonitorSystem* monitor);
 
#endif // RENSSELAERMOTORSPORT_CONTROLLER_SYSTEM_H