analog_current_sensor.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_ANALOG_CURRENT_SENSOR_HPP_
#define TAPROOT_ANALOG_CURRENT_SENSOR_HPP_
 
#include "tap/communication/gpio/analog.hpp"
 
#include "current_sensor_interface.hpp"
 
namespace tap::communication::sensors::current
{
class AnalogCurrentSensor : public CurrentSensorInterface
{
public:
    struct Config
    {
        const tap::gpio::Analog *analogDriver;
        const tap::gpio::Analog::Pin analogSensorPin;
        const float currentSensorMaPerMv;
        const float currentSensorZeroMv;
        const float currentSensorLowPassAlpha;
    };
 
    AnalogCurrentSensor(const Config &config);
 
    float getCurrentMa() const override;
 
    void update() override;
 
private:
    const Config config;
 
    float prevCurrent = 0.0f;
};
 
}  // namespace tap::communication::sensors::current
 
#endif  // TAPROOT_ANALOG_CURRENT_SENSOR_HPP_