.. _program_listing_file_src_tap_control_chassis_power_limiter.hpp:

Program Listing for File power_limiter.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_control_chassis_power_limiter.hpp>` (``src/tap/control/chassis/power_limiter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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"
   
   namespace tap
   {
   class Drivers;
   }
   
   namespace tap::control::chassis
   {
   class PowerLimiter
   {
   public:
       PowerLimiter(
           const tap::Drivers *drivers,
           tap::communication::sensors::current::CurrentSensorInterface *currentSensor,
           float startingEnergyBuffer,
           float energyBufferLimitThreshold,
           float energyBufferCritThreshold);
   
       float getPowerLimitRatio();
   
   private:
       const tap::Drivers *drivers;
       tap::communication::sensors::current::CurrentSensorInterface *currentSensor;
       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_