cruise_control.h

#pragma once
 
/************************************************************************************************
 * @file   cruise_control.h
 *
 * @brief  Header file for front controller cruise control handling
 *
 * @date   2026-02-03
 * @author Midnight Sun Team #24 - MSXVI
 ************************************************************************************************/
 
/* Standard library Headers */
#include <stdint.h>
 
/* Inter-component Headers */
#include "status.h"
 
/* Intra-component Headers */
#include "front_controller.h"
 
#define CC_MIN_THRESHOLD 0.5f
#define CC_KP 0.00000005
#define ACCELERATION_LIMIT_M_S2 1
#define ACCELERATION_LIMIT_KM_HS ACCELERATION_LIMIT_M_S2 * 3.6
#define ACCELERATION_LIMIT_PER_1000HZ_CYCLE ACCELERATION_LIMIT_KM_HS / 1000
#define CURRENT_STEP_LIMIT 0.0001
 
typedef struct CruiseControlStorage {
  float current_motor_velocity;
  float target_motor_velocity;
  float set_current;
} CruiseControlStorage;
 
StatusCode cruise_control_run();
 
StatusCode cruise_control_init(FrontControllerStorage *storage);