Program Listing for File power_limiter.hpp

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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_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_