Conversions.cpp

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#include "Conversions.hpp"
#include <math.h>
 
uint16_t convertLightStatesIntoFinalState(
    const uint8_t headlight,
    const uint8_t brakes,
    const uint8_t blinkerLeft,
    const uint8_t blinkerRight,
    const uint8_t scenario1,
    const uint8_t scenario2,
    const uint8_t scenario3) {
  uint16_t output = (uint16_t)(scenario3 & 0x3) << 12;
  output |= (uint16_t)(scenario2 & 0x3) << 10;
  output |= (uint16_t)(scenario1 & 0x3) << 8;
  output |= (uint16_t)(brakes & 0x3) << 6;
  output |= (uint16_t)(blinkerRight & 0x3) << 4;
  output |= (uint16_t)(blinkerLeft & 0x3) << 2;
  output |= (uint16_t)(headlight & 0x3);
 
  return output;
}
 
float calculateVelocityByRpm(
    const int64_t motor_erpm,
    const float r_dyn,
    const float i_g,
    const float i_a) {
  if(i_g == 0.0f || i_a == 0.0f) {
    return 0;
  }
 
  const float velocity =
      (2.0 * r_dyn * motor_erpm * M_PI) / (60.0 * i_g * i_a);
 
  return velocity;
}
 
int64_t calculateRpmByVelocity(
    const float velocity,
    const float r_dyn,
    const float i_g,
    const float i_a) {
  if(r_dyn == 0.0f) {
    return 0;
  }
 
  const float rpm =
      (60.0 * i_g * i_a * velocity) / (2.0 * r_dyn * M_PI);
 
  return rpm;
}