changing

hytech-racing · Jul 9, 2024 · ce5e87c · ce5e87c
1 parent 9a4212f
commit ce5e87c
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/lib/systems/include/TorqueControllerMux.h b/lib/systems/include/TorqueControllerMux.h
@@ -77,9 +77,9 @@ class TorqueControllerMux
     TorqueControllerMux(TelemetryInterface *telemInterface)
     : torqueControllerNone_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_NO_CONTROLLER)])
     , torqueControllerSimple_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)])
-    , tcSimple_10mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], )
-    , tcSimple_15mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)])
-    , tcSimple_20mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)])
+    , tcSimple_10mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], 1.0, 1.0, 10.0)
+    , tcSimple_15mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], 1.0, 1.0, 15.0)
+    , tcSimple_20mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], 1.0, 1.0, 20.0)
     , torqueControllerLoadCellVectoring_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_LOAD_CELL_VECTORING)])
     , torqueControllerSimpleLaunch_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SIMPLE_LAUNCH)])
     , torqueControllerSlipLaunch_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SLIP_LAUNCH)])
@@ -93,6 +93,9 @@ class TorqueControllerMux
     TorqueControllerMux(float simpleTCRearTorqueScale, float simpleTCRegenTorqueScale, TelemetryInterface *telemInterface)
     : torqueControllerNone_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_NO_CONTROLLER)])
     , torqueControllerSimple_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale)
+    , tcSimple_10mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale, 10.0)
+    , tcSimple_15mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale, 15.0)
+    , tcSimple_20mps_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale, 20.0)
     , torqueControllerLoadCellVectoring_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_LOAD_CELL_VECTORING)], 1.0, simpleTCRegenTorqueScale)
     , torqueControllerSimpleLaunch_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SIMPLE_LAUNCH)])
     , torqueControllerSlipLaunch_(controllerOutputs_[static_cast<int>(TorqueController_e::TC_SLIP_LAUNCH)])

diff --git a/lib/systems/include/TorqueControllers.h b/lib/systems/include/TorqueControllers.h
@@ -76,7 +76,10 @@ enum TorqueController_e
     TC_SLIP_LAUNCH = 4,
     TC_LOOKUP_LAUNCH = 5,
     TC_CASE_SYSTEM = 6,
-    TC_NUM_CONTROLLERS = 7,
+    TC_SAFE_10MPS = 7,
+    TC_SAFE_15MPS = 8,
+    TC_SAFE_20MPS = 9,
+    TC_NUM_CONTROLLERS = 10,
 };
 
 enum class LaunchStates_e