smoothcontrol.h

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#ifndef SMOOTHCONTROL_H
#define SMOOTHCONTROL_H

// Defines the predictor time-limit so it doesn't go haywire.
// Chosem PPM frame timing for now.
#define SMOOTHCONTROL_TIMEBOMB                                          20.0f

// Defines ratio of inter-signal timing to run a prediction algorithm for.
#define SMOOTHCONTROL_DUTY_CYCLE                                        0.5f

// Controls steepness of prediction slope.
#define SMOOTHCONTROL_PREDICTOR_SLOPE                           0.8f

// At which ratio to start the chamfer.
#define SMOOTHCONTROL_CHAMFER_START                                     0.75f

enum {
        // Bypass.
        SMOOTHCONTROL_NONE,

        // Chamfers the corners of the stairstepped control signal.
        // icee's idea.
        SMOOTHCONTROL_NORMAL,

        // Linear interpolate control input.
        SMOOTHCONTROL_LINEAR,
};

typedef struct smoothcontrol_state_internal* smoothcontrol_state;


void smoothcontrol_initialize(smoothcontrol_state *state);
void smoothcontrol_update_dT(smoothcontrol_state state, float dT);
void smoothcontrol_next(smoothcontrol_state state);
void smoothcontrol_run(smoothcontrol_state state, uint8_t axis_num, float *new_signal);
void smoothcontrol_run_thrust(smoothcontrol_state state, float *new_signal);
void smoothcontrol_reinit(smoothcontrol_state state, uint8_t axis_num, float new_signal);
void smoothcontrol_reinit_thrust(smoothcontrol_state state, float new_signal);
void smoothcontrol_set_mode(smoothcontrol_state state, uint8_t axis_num, uint8_t mode, uint8_t duty_cycle);
bool* smoothcontrol_get_ringer(smoothcontrol_state state);

#endif // SMOOTHCONTROL_H