AirBrakesPI.h

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/* Copyright (c) 2021-2022 Skyward Experimental Rocketry
 * Authors: Vincenzo Santomarco, Alberto Nidasio, Emilio Corigliano
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <actuators/Servo/Servo.h>
#include <algorithms/Algorithm.h>
#include <algorithms/PIController.h>
 
#include <functional>
#include <vector>
 
#include "AirBrakesPIConfig.h"
#include "TrajectorySet.h"
 
namespace Boardcore
{
 
class AirBrakesPI : public Algorithm
{
public:
    AirBrakesPI(std::function<TimedTrajectoryPoint()> getCurrentPosition,
                const TrajectorySet& trajectorySet,
                const AirBrakesPIConfig& config,
                std::function<void(float)> setActuator);
 
    bool init() override;
 
    void begin();
 
    void step() override;
 
private:
    float getRho(float z);
 
    float getSurface(const TimedTrajectoryPoint& currentPosition, float rho,
                     float drag);
 
    float getExtension(float surface);
 
    float getCD(TimedTrajectoryPoint currentPosition, float extension);
 
    float getDrag(TimedTrajectoryPoint currentPosition, float cd, float rho);
 
    void chooseTrajectory(TrajectoryPoint currentPosition);
 
    TrajectoryPoint getSetpoint(TrajectoryPoint currentPosition);
 
    float piStep(TimedTrajectoryPoint currentPosition,
                 TrajectoryPoint reference, float rho);
 
private:
    std::function<TimedTrajectoryPoint()> getCurrentPosition;
    const AirBrakesPIConfig& config;
    std::function<void(float)> setActuator;
 
    TimedTrajectoryPoint lastPosition;
    uint32_t lastSelectedPointIndex = 0;
 
    PIController pi;
 
    // Trajectory set from which the used trajectory can be choosen
    const TrajectorySet& trajectorySet;
 
    Trajectory* chosenTrajectory = nullptr;
};
 
}  // namespace Boardcore