TorqueControl.h

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#ifndef RENSSELAERMOTORSPORT_TORQUE_CONTROL_H
#define RENSSELAERMOTORSPORT_TORQUE_CONTROL_H
 
#include "../ControllerSystem.h"
 
#define TORQUE_ERROR_MARGIN 0.05 // TODO: Determine correct value for the margin, or change to lookup table if needed.
 
// TODO: Move to torque police in the future
typedef enum {
    TORQUE_OK,
    TORQUE_OVER_LIMIT,
    TORQUE_UNDER_LIMIT,
    TORQUE_SENSOR_ERROR
} TorqueStatus;
 
typedef struct {
    ControllerSystem base;
    float actualTorque;
    float desiredTorque;
    float maxAllowedTorque;
    TorqueStatus status;
} TorqueControl;
 
 
void initTorqueControl(TorqueControl* tc, int hz, float maxTorque);
 
void setDesiredTorque(TorqueControl* tc, float torque);
 
/*
 * @brief Sets the actual torque for Torque Control Actuator
 * For testing and debugging.
 *
 * @param tc A pointer to the TorqueControl structure.
 * @param torque The torque to be set (in Nm).
 */
void setActualTorque(TorqueControl* tc, float torque);
 
void updateTorqueControl(void* tc);
 
 
TorqueStatus checkTorqueLimits(TorqueControl* tc);
 
// TODO: Add doc / add function in if applicable
void sendTorqueCommand(const TorqueControl* tc);
 
int torqueSafetyCheck(void* tc);
 
#endif // RENSSELAERMOTORSPORT_TORQUE_CONTROL_H