SimpleController.h

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#ifndef SIMPLECONTROLLER
#define SIMPLECONTROLLER
 
#include "BaseController.h"
 
 
 
class TorqueControllerSimple : public Controller
{
private:
    TorqueControllerOutput_s writeout_;
    float frontTorqueScale_ = 1.0;
    float rearTorqueScale_ = 1.0;
    float frontRegenTorqueScale_ = 1.0;
    float rearRegenTorqueScale_ = 1.0;
 
public:
    TorqueControllerSimple(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 = true;
    }
    void tick(const PedalsSystemData_s &pedalsData);
    TorqueControllerOutput_s evaluate(const SharedCarState_s &state) override;
};
 
#endif