From ce5e87c04144a076e1566d44960cd4bdc21326cb Mon Sep 17 00:00:00 2001 From: CL16gtgh Date: Mon, 8 Jul 2024 20:12:23 -0400 Subject: [PATCH] changing --- lib/systems/include/TorqueControllerMux.h | 9 ++++++--- lib/systems/include/TorqueControllers.h | 5 ++++- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/lib/systems/include/TorqueControllerMux.h b/lib/systems/include/TorqueControllerMux.h index c78503c76..610758636 100644 --- 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(TorqueController_e::TC_NO_CONTROLLER)]) , torqueControllerSimple_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)]) - , tcSimple_10mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], ) - , tcSimple_15mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)]) - , tcSimple_20mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)]) + , tcSimple_10mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], 1.0, 1.0, 10.0) + , tcSimple_15mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], 1.0, 1.0, 15.0) + , tcSimple_20mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], 1.0, 1.0, 20.0) , torqueControllerLoadCellVectoring_(controllerOutputs_[static_cast(TorqueController_e::TC_LOAD_CELL_VECTORING)]) , torqueControllerSimpleLaunch_(controllerOutputs_[static_cast(TorqueController_e::TC_SIMPLE_LAUNCH)]) , torqueControllerSlipLaunch_(controllerOutputs_[static_cast(TorqueController_e::TC_SLIP_LAUNCH)]) @@ -93,6 +93,9 @@ class TorqueControllerMux TorqueControllerMux(float simpleTCRearTorqueScale, float simpleTCRegenTorqueScale, TelemetryInterface *telemInterface) : torqueControllerNone_(controllerOutputs_[static_cast(TorqueController_e::TC_NO_CONTROLLER)]) , torqueControllerSimple_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale) + , tcSimple_10mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale, 10.0) + , tcSimple_15mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale, 15.0) + , tcSimple_20mps_(controllerOutputs_[static_cast(TorqueController_e::TC_SAFE_MODE)], simpleTCRearTorqueScale, simpleTCRegenTorqueScale, 20.0) , torqueControllerLoadCellVectoring_(controllerOutputs_[static_cast(TorqueController_e::TC_LOAD_CELL_VECTORING)], 1.0, simpleTCRegenTorqueScale) , torqueControllerSimpleLaunch_(controllerOutputs_[static_cast(TorqueController_e::TC_SIMPLE_LAUNCH)]) , torqueControllerSlipLaunch_(controllerOutputs_[static_cast(TorqueController_e::TC_SLIP_LAUNCH)]) diff --git a/lib/systems/include/TorqueControllers.h b/lib/systems/include/TorqueControllers.h index 478a6276c..349ef7a01 100644 --- 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