motor_sim.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_MOTOR_SIM_HPP_
#define TAPROOT_MOTOR_SIM_HPP_
 
#ifdef PLATFORM_HOSTED
 
#include <cmath>
#include <cstdint>
 
namespace tap::motor::motorsim
{
class MotorSim
{
public:
    struct Config
    {
        int16_t maxInputMag;  
        int16_t maxencoder;   
        float maxCurrent;     
        float currentLim;     
        float maxW;           
        float kt;             
        float wtGrad;         
    };
 
    static constexpr Config M3508_CONFIG = {
        .maxInputMag = 16'384,
        .maxencoder = 8'192,
        .maxCurrent = 20,
        .currentLim = 10,
        .maxW = 469,
        .kt = 0.3f,
        .wtGrad = 72,
    };
 
    MotorSim(const Config &config);
 
    void reset();
 
    void setMotorInput(int16_t in);
 
    void setLoad(float load);
 
    void update();
 
    float getCurrent() const;
 
    int16_t getEnc() const;
 
    int16_t getInput() const;
 
    float getMaxTorque() const;
 
    int16_t getRPM() const;
 
private:
    const Config config;
 
    /* Class Variables */
    float load = 0;  // N*m
    int16_t enc = 0;
    float rpm = 0;
    int16_t input = 0;
    uint32_t prevTime = 0;
};
}  // namespace tap::motor::motorsim
 
#endif  // PLATFORM_HOSTED
 
#endif  // TAPROOT_MOTOR_SIM_HPP_