JMotorCompBasic.h

Go to the documentation of this file.

#ifndef J_MOTOR_COMP_BASIC_H
#define J_MOTOR_COMP_BASIC_H
#include "JMotorCompensator.h"
#include "JVoltageCompensator.h"
#include <Arduino.h>
class JMotorCompBasic : public JMotorCompensator {
private:
    JVoltageCompensator& voltComp;
    float multiplier;
    float minSpeed;
 
public:
    JMotorCompBasic(JVoltageCompensator& _voltComp, float _voltsPerSpeed, float _minSpeed)
        : voltComp(_voltComp)
    {
        multiplier = _voltsPerSpeed;
        minSpeed = abs(_minSpeed);
    }
    float compensate(float val)
    {
        if (val == 0 || abs(val) < minSpeed) {
            return 0;
        }
        return constrain(voltComp.adjust(val * multiplier, driverRange), -maxDriverRange, maxDriverRange);
    }
    float getMaxVel()
    {
        return voltComp.getSupplyVoltage() / multiplier;
    }
    float getMinVel()
    {
        return minSpeed;
    }
 
    void setVoltsPerSpeed(float _voltsPerSpeed)
    {
        multiplier = _voltsPerSpeed;
    }
    float getVoltsPerSpeed()
    {
        return multiplier;
    }
    void setMinSpeed(float _speed)
    {
        minSpeed = abs(_speed);
    }
};
#endif