*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+#ifndef __OPEN_LOOP_CONTROLLER_HPP
+#define __OPEN_LOOP_CONTROLLER_HPP
+
+#include "component.hpp"
+#include <cmath>
+#include <autogen/interfaces.hpp>
+
+class OpenLoopController : public ComponentBase {
+public:
+    void update(uint32_t timestamp) final;
+
+    // Config
+    float max_current_ramp_ = INFINITY; // [A/s]
+    float max_voltage_ramp_ = INFINITY; // [V/s]
+    float max_phase_vel_ramp_ = INFINITY; // [rad/s^2]
+
+    // Inputs
+    float target_vel_ = 0.0f;
+    float target_current_ = 0.0f;
+    float target_voltage_ = 0.0f;
+    float initial_phase_ = 0.0f;
+
+    // State/Outputs
+    uint32_t timestamp_ = 0;
+    OutputPort<float2D> Idq_setpoint_ = {{0.0f, 0.0f}};
+    OutputPort<float2D> Vdq_setpoint_ = {{0.0f, 0.0f}};
+    OutputPort<float> phase_ = 0.0f;
+    OutputPort<float> phase_vel_ = 0.0f;
+    OutputPort<float> total_distance_ = 0.0f;
+};
+
+#endif // __OPEN_LOOP_CONTROLLER_HPP