Line data    Source code

       1             : #ifndef CONTROLS_ALLOCATOR_CONFIG_THRUSTER_LOOKUP_INTERFACE_H
       2             : #define CONTROLS_ALLOCATOR_CONFIG_THRUSTER_LOOKUP_INTERFACE_H
       3             : 
       4             : #include <cstdint>
       5             : #include <utility>
       6             : 
       7             : /**
       8             :  * @brief Abstract interface for voltage-dependent thruster lookup tables
       9             :  *
      10             :  * Implementations map a desired thrust force (N) at a given battery voltage (V)
      11             :  * to an integer PWM-style command, and expose the achievable force limits at
      12             :  * that voltage.
      13             :  */
      14           1 : class ThrusterLookupInterface {
      15             : public:
      16           0 :     virtual ~ThrusterLookupInterface() = default;
      17             : 
      18             :     /**
      19             :      * @brief Returns the minimum and maximum achievable thrust at a given voltage
      20             :      *
      21             :      * @param voltage_v [in] Battery voltage in volts
      22             :      *
      23             :      * @return Pair of (min_force_N, max_force_N)
      24             :      */
      25           1 :     virtual std::pair<float, float> getForceLimits(float voltage_v) = 0;
      26             : 
      27             :     /**
      28             :      * @brief Converts a desired thrust and voltage to a thruster command value
      29             :      *
      30             :      * @param thrust_N  [in] Desired thrust in Newtons
      31             :      * @param voltage_v [in] Battery voltage in volts
      32             :      *
      33             :      * @return Integer thruster command (e.g. PWM microseconds or a scaled value)
      34             :      */
      35           1 :     virtual int16_t getThrusterCommand(float thrust_N, float voltage_v) = 0;
      36             : };
      37             : 
      38             : #endif  // CONTROLS_ALLOCATOR_CONFIG_THRUSTER_LOOKUP_INTERFACE_H