TorqueControl.h

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#ifndef RENSSELAERMOTORSPORT_TORQUE_CONTROL_H
#define RENSSELAERMOTORSPORT_TORQUE_CONTROL_H
 
#include "../ControllerSystem.h"
#include "../../Utils/Constants.h"
#include "Apps.h"
 
typedef enum {
    TORQUE_OK,
    TORQUE_RTD,
    TORQUE_LOW,
    TORQUE_OVER_LIMIT,
    TORQUE_UNDER_LIMIT,
    TORQUE_SENSOR_ERROR,
    TORQUE_BRAKE_FIGHT
} TorqueStatus;
 
typedef struct {
    ControllerSystem base;
    Apps *apps;
    float desiredTorque;
    float maxAllowedTorque;
    TorqueStatus status;
} TorqueControl;
 
void initTorqueControl(TorqueControl* tc, Apps* apps, int hz, float maxTorque);
 
int startTorqueControl(TorqueControl* tc);
 
int setDesiredTorque(ControllerSystem* controller);
 
#endif // RENSSELAERMOTORSPORT_TORQUE_CONTROL_H