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Sensor data implementation

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This commit is contained in:
Johnathon Slightham
2026-01-15 01:24:57 -05:00
parent 5f31171fe6
commit 017a5f3cf0
10 changed files with 218 additions and 125 deletions
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11
main/include/control/DCMotorActuator.h
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@@ -3,19 +3,20 @@
#ifndef DCMOTORACTUATOR_H
#define DCMOTORACTUATOR_H
#include "IActuator.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "IActuator.h"
class DCMotorActuator final : public IActuator {
public:
public:
DCMotorActuator();
~DCMotorActuator() override;
void actuate(uint8_t *cmd) override;
std::vector<Flatbuffers::SensorValueInstance> get_sensor_data() override;
private:
std::vector<Flatbuffers::sensor_value> get_sensor_data() override;
private:
void setup_encoder();
static void pid_task(char* args);
static void pid_task(char *args);
double m_current_angle;
int64_t m_target_angle;