power_limiter.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * 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_POWER_LIMITER_HPP_
#define TAPROOT_POWER_LIMITER_HPP_
 
#include "tap/communication/gpio/analog.hpp"
#include "tap/communication/sensors/current/current_sensor_interface.hpp"
#include "tap/communication/sensors/voltage/voltage_sensor_interface.hpp"
 
namespace tap
{
class Drivers;
}
 
namespace tap::control::chassis
{
class PowerLimiter
{
public:
    PowerLimiter(
        const tap::Drivers *drivers,
        tap::communication::sensors::current::CurrentSensorInterface *currentSensor,
        tap::communication::sensors::voltage::VoltageSensorInterface *voltageSensor,
        float startingEnergyBuffer,
        float energyBufferLimitThreshold,
        float energyBufferCritThreshold);
 
    float getPowerLimitRatio();
 
private:
    const tap::Drivers *drivers;
    tap::communication::sensors::current::CurrentSensorInterface *currentSensor;
    tap::communication::sensors::voltage::VoltageSensorInterface *voltageSensor;
    const float startingEnergyBuffer;
    const float energyBufferLimitThreshold;
    const float energyBufferCritThreshold;
 
    float energyBuffer;
    float consumedPower;
    uint32_t prevTime;
    uint32_t prevRobotDataReceivedTimestamp;
 
    void updatePowerAndEnergyBuffer();
};
}  // namespace tap::control::chassis
 
#endif  // TAPROOT_POWER_LIMITER_HPP_