LoadCellVectoringController.h

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#ifndef LOADCELLVECTORINGCONTROLLER
#define LOADCELLVECTORINGCONTROLLER
 
#include "BaseController.h"
class TorqueControllerLoadCellVectoring : public virtual Controller
{
private:
    float frontTorqueScale_ = 1.0;
    float rearTorqueScale_ = 1.0;
    float frontRegenTorqueScale_ = 1.0;
    float rearRegenTorqueScale_ = 1.0;
    
    TorqueControllerOutput_s writeout_;
    /*
    FIR filter designed with
    http://t-filter.appspot.com
 
    sampling frequency: 100 Hz
 
    * 0 Hz - 10 Hz
    gain = 1
    desired ripple = 5 dB
    actual ripple = 1.7659949026015025 dB
 
    * 40 Hz - 50 Hz
    gain = 0
    desired attenuation = -40 dB
    actual attenuation = -47.34009380570117 dB
    */
    const static int numFIRTaps_ = 5;
    float FIRTaps_[numFIRTaps_] = {
        0.07022690881526232,
        0.27638313122745306,
        0.408090001549378,
        0.27638313122745306,
        0.07022690881526232};
    int FIRCircBufferHead = 0; // index of the latest sample in the raw buffer
    float loadCellForcesRaw_[4][numFIRTaps_] = {};
    float loadCellForcesFiltered_[4] = {};
    // Some checks that can disable the controller
    const int errorCountThreshold_ = 25;
    int loadCellsErrorCounter_[4] = {};
    bool FIRSaturated_ = false;
    bool ready_ = false;
 
public:
    TorqueControllerLoadCellVectoring(float rearTorqueScale, float regenTorqueScale)
        : frontTorqueScale_(2.0 - rearTorqueScale),
          rearTorqueScale_(rearTorqueScale),
          frontRegenTorqueScale_(2.0 - regenTorqueScale),
          rearRegenTorqueScale_(regenTorqueScale)
    {
        writeout_.command = BaseControllerParams::TC_COMMAND_NO_TORQUE;
        writeout_.ready = false;
    }
    TorqueControllerLoadCellVectoring() : TorqueControllerLoadCellVectoring(1.0, 1.0) {}
 
    void tick(
        const SysTick_s &tick,
        const PedalsSystemData_s &pedalsData,
        const LoadCellInterfaceOutput_s &loadCellData);
    TorqueControllerOutput_s evaluate(const SharedCarState_s &state) override;
};
 
#endif