repeat_ultra_mk2.hpp

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#ifndef FANG_ROBOTICS_MCB_DRIVER_MOTOR_GEARBOX_REPEAT_ULTRA_MK2_HPP
#define FANG_ROBOTICS_MCB_DRIVER_MOTOR_GEARBOX_REPEAT_ULTRA_MK2_HPP
 
#include "vortex_80a_esc.hpp"
#include "driver/drivers.hpp"
 
#include "wrap/rail/motor/ispeed_motor.hpp"
#include "wrap/trap/communication/pwm_data.hpp"
#include "wrap/trap/algorithms/ramp.hpp"
#include "wrap/units/units_alias.hpp"
 
#include "tap/util_macros.hpp"
 
namespace fang::motor
{
    class RepeatUltraMk2 : public ISpeedMotor
    {
    public:
        struct Config
        {
            Volts controllerInputVoltage;
            trap::gpio::PwmData pwmData;
            bool inverted;
            double gearRatio;
            double rampSpeed;
        };
 
        RepeatUltraMk2(Drivers& drivers, const Config& config);
 
        mockable ~RepeatUltraMk2() = default;
 
        mockable void setTargetSpeed(const RPM& speed);
 
        void initialize() override;
 
        void update();
 
        static constexpr RPMPerVolt kKv{1450.0};
    private:
        void syncVotex();
        void assertConfigValidity(const Config& config);
 
        const Volts kControllerInputVoltage_;
        const double kGearRatio_;
        const int8_t kInversionMultiplier_;
        trap::algorithms::Ramp<RPM, Seconds> speedRamp_;
        // This was the Repeat Robotics provided value for the ratio between the rpm and the voltage associated with i
        //kv value is ration of rpm per voltage applied to a brushless dc motor
        Vortex80AEsc vortex_;
 
        const RPM kMaxTheoreticalSpeed_{kKv * kControllerInputVoltage_};
   };
}
#endif