.. _program_listing_file_src_tap_motor_m3508_constants.hpp:

Program Listing for File m3508_constants.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_motor_m3508_constants.hpp>` (``src/tap/motor/m3508_constants.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_M3508_CONSTANTS_HPP_
   #define TAPROOT_M3508_CONSTANTS_HPP_
   
   #include "motor_constants.hpp"
   
   namespace tap::motor
   {
   class M3508Constants : public MotorConstants
   {
   public:
       inline float convertOutputToCurrent(float output) const override
       {
           return output * 20000.0f / 16384.0f;
       }
   
       inline float getTorqueConstant() const override { return 0.3; }
   };
   }  // namespace tap::motor
   
   #endif  // TAPROOT_M3508_CONSTANTS_HPP_