8 #include "LRTSpeedController.h"
9 #include "../Sensors/LRTEncoder.h"
10 #include "../Utils/AsyncPrinter.h"
11 #include "../Logging/Loggable.h"
71 struct BrakeAndDutyCycle
77 float DitheredBraking(
float dutyCycle,
float speed);
78 float CurrentLimit(
float dutyCycle,
float speed);
79 BrakeAndDutyCycle CalculateBrakeAndDutyCycle(
float target_speed,
float current_speed);
89 float m_forwardCurrentLimit;
90 float m_reverseCurrentLimit;
92 bool m_shouldBrakeThisCycle;