LoadCellInterface Class Reference

#include <LoadCellInterface.h>

Collaboration diagram for LoadCellInterface:

Public Member Functions
	LoadCellInterface ()
void	tick (const LoadCellInterfaceTick_s &intake)
void	update_raw_data (const LoadCellInterfaceTick_s &intake)
LoadCellInterfaceRawOutput_s	get_latest_raw_data ()
LoadCellInterfaceOutput_s	getLoadCellForces ()

Private Attributes
float	FIRTaps_ [numFIRTaps_]
int	FIRCircBufferHead = 0
veh_vec< AnalogConversion_s >	loadCellConversions_
veh_vec< float[numFIRTaps_]>	loadCellForcesUnfiltered_
veh_vec< float >	loadCellForcesFiltered_
LoadCellInterfaceRawOutput_s	_raw_data
bool	FIRSaturated_ = false

Static Private Attributes
static const int	numFIRTaps_ = 5

Detailed Description

Definition at line 20 of file LoadCellInterface.h.

Constructor & Destructor Documentation

LoadCellInterface()

LoadCellInterface::LoadCellInterface ( )

inline

Definition at line 23 of file LoadCellInterface.h.

                        {
        loadCellConversions_ = veh_vec<AnalogConversion_s>();
        loadCellForcesUnfiltered_ = veh_vec<float[numFIRTaps_]>();
        loadCellForcesFiltered_ = veh_vec<float>();
    }

Member Function Documentation

get_latest_raw_data()

LoadCellInterfaceRawOutput_s LoadCellInterface::get_latest_raw_data ( )

inline

Definition at line 30 of file LoadCellInterface.h.

{ return _raw_data; }

getLoadCellForces()

LoadCellInterfaceOutput_s LoadCellInterface::getLoadCellForces

(

)

Definition at line 35 of file LoadCellInterface.cpp.

{
    return (LoadCellInterfaceOutput_s){
        .loadCellForcesFiltered = loadCellForcesFiltered_,
        .loadCellConversions = loadCellConversions_,
        .FIRSaturated = FIRSaturated_};
}

tick()

void LoadCellInterface::tick

(

const LoadCellInterfaceTick_s &

intake

)

Definition at line 3 of file LoadCellInterface.cpp.

{
    // filter runs at 100hz
    loadCellConversions_.FL = intake.FLConversion;
    loadCellConversions_.FR = intake.FRConversion;
    loadCellConversions_.RL = intake.RLConversion;
    loadCellConversions_.RR = intake.RRConversion;
 
    loadCellForcesUnfiltered_.FL[FIRCircBufferHead] = intake.FLConversion.conversion;
    loadCellForcesUnfiltered_.FR[FIRCircBufferHead] = intake.FRConversion.conversion;
    loadCellForcesUnfiltered_.RL[FIRCircBufferHead] = intake.RLConversion.conversion;
    loadCellForcesUnfiltered_.RR[FIRCircBufferHead] = intake.RRConversion.conversion;
 
    loadCellForcesFiltered_.FL = 0.0f;
    loadCellForcesFiltered_.FR = 0.0f;
    loadCellForcesFiltered_.RL = 0.0f;
    loadCellForcesFiltered_.RR = 0.0f;
 
    for (int FIROffset = 0; FIROffset < numFIRTaps_; FIROffset++)
    {
        int index = (FIRCircBufferHead + FIROffset) % numFIRTaps_;
        loadCellForcesFiltered_.FL += loadCellForcesUnfiltered_.FL[index] * FIRTaps_[FIROffset];
        loadCellForcesFiltered_.FR += loadCellForcesUnfiltered_.FR[index] * FIRTaps_[FIROffset];
        loadCellForcesFiltered_.RL += loadCellForcesUnfiltered_.RL[index] * FIRTaps_[FIROffset];
        loadCellForcesFiltered_.RR += loadCellForcesUnfiltered_.RR[index] * FIRTaps_[FIROffset];
    }
 
    FIRCircBufferHead = (FIRCircBufferHead + 1) % numFIRTaps_;
    if (FIRCircBufferHead == numFIRTaps_ - 1)
        FIRSaturated_ = true;
}

update_raw_data()

void LoadCellInterface::update_raw_data

(

const LoadCellInterfaceTick_s &

intake

)

Definition at line 44 of file LoadCellInterface.cpp.

{
    _raw_data.raw_load_cell_data = {intake.FLConversion.raw, intake.FRConversion.raw, intake.RLConversion.raw, intake.RRConversion.raw};
}

Member Data Documentation

_raw_data

LoadCellInterfaceRawOutput_s LoadCellInterface::_raw_data

private

Definition at line 62 of file LoadCellInterface.h.

FIRCircBufferHead

int LoadCellInterface::FIRCircBufferHead = 0

private

Definition at line 58 of file LoadCellInterface.h.

FIRSaturated_

bool LoadCellInterface::FIRSaturated_ = false

private

Definition at line 63 of file LoadCellInterface.h.

FIRTaps_

float LoadCellInterface::FIRTaps_[numFIRTaps_]

private

Initial value:

= 
    {
        0.07022690881526232,
        0.27638313122745306,
        0.408090001549378,
        0.27638313122745306,
        0.07022690881526232
    }

Definition at line 50 of file LoadCellInterface.h.

loadCellConversions_

veh_vec<AnalogConversion_s> LoadCellInterface::loadCellConversions_

private

Definition at line 59 of file LoadCellInterface.h.

loadCellForcesFiltered_

veh_vec<float> LoadCellInterface::loadCellForcesFiltered_

private

Definition at line 61 of file LoadCellInterface.h.

loadCellForcesUnfiltered_

veh_vec<float[numFIRTaps_]> LoadCellInterface::loadCellForcesUnfiltered_

private

Definition at line 60 of file LoadCellInterface.h.

numFIRTaps_

const int LoadCellInterface::numFIRTaps_ = 5

staticprivate

Definition at line 49 of file LoadCellInterface.h.

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The documentation for this class was generated from the following files:

• lib/interfaces/include/LoadCellInterface.h
• lib/interfaces/src/LoadCellInterface.cpp