MCU/BaseController_8h_source.html

#ifndef BASECONTROLLER

#define BASECONTROLLER

#include "SharedDataTypes.h"


namespace BaseControllerParams

{

    const DrivetrainCommand_s TC_COMMAND_NO_TORQUE = {

        .speeds_rpm = {0.0, 0.0, 0.0, 0.0},

        .inverter_torque_limit = {0.0, 0.0, 0.0, 0.0}};


}

class Controller

{

public:

    virtual TorqueControllerOutput_s evaluate(const SharedCarState_s &state) = 0;

};


#endif

SharedDataTypes.h

Controller
Base class for all controllers, which define drivetrain command containing different variations of
Definition: BaseController.h:18

Controller::evaluate
virtual TorqueControllerOutput_s evaluate(const SharedCarState_s &state)=0
This mehod must be implemented by every controller in the Tc Muxer. This is called in the Muxer whene...

BaseControllerParams
defines namespace for definition of a drivetrain command with no torque for clearer code in the Muxer...
Definition: BaseController.h:8

BaseControllerParams::TC_COMMAND_NO_TORQUE
const DrivetrainCommand_s TC_COMMAND_NO_TORQUE
Definition: BaseController.h:9

DrivetrainCommand_s
Stores setpoints for a command to the Drivetrain, containing speed and torque setpoints for each moto...
Definition: SharedDataTypes.h:63

DrivetrainCommand_s::speeds_rpm
float speeds_rpm[NUM_MOTORS]
Definition: SharedDataTypes.h:64

SharedCarState_s
car state struct that contains state of everything about the car including
Definition: SharedDataTypes.h:149

TorqueControllerOutput_s
Packages drivetrain command with ready boolean to give feedback on controller successfully evaluating...
Definition: SharedDataTypes.h:71