restructuring

embedded/PseudoSensorControl/ADC.cpp

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+../lib/ADC.cpp

embedded/PseudoSensorControl/ADC.hpp

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+../lib/ADC.hpp

embedded/PseudoSensorControl/FastPWM.cpp

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+../lib/FastPWM.cpp

embedded/PseudoSensorControl/FastPWM.hpp

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+../lib/FastPWM.hpp

embedded/PseudoSensorControl/IndSensorMap.cpp

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+../lib/IndSensorMap.cpp

embedded/PseudoSensorControl/IndSensorMap.hpp

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+../lib/IndSensorMap.hpp

embedded/PseudoSensorControl/PseudoSensorControl.cpp

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+../lib/PseudoSensorControl.cpp

embedded/PseudoSensorControl/PseudoSensorControl.hpp

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+../lib/PseudoSensorControl.hpp

embedded/PseudoSensorControl/PseudoSensorControl.ino

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+#include <Arduino.h>
+#include "IndSensorMap.hpp"
+#include "PseudoSensorControl.hpp"
+#include "ADC.hpp"
+#include "FastPWM.hpp"
+
+float refs[4] = {12.9,12.3,12.6,12};
+
+Constants repelling = {250, 0, 20000};
+Constants attracting = {250, 0, 20000};
+
+K_MAP consts = {repelling, attracting};
+
+#define slewRateLimit 100 // max PWM change per control cycle (determined by 1 second / sampling rate)
+// this was implemented by Claude and we can see if it helps.
+// Set it at or above 255 to make it have no effect.
+
+// Might be useful for things like jitter or lag.
+#define sampling_rate 1000 // Hz
+
+// EMA filter alpha value (all sensors use same alpha)
+#define alphaVal 0.3f
+
+
+// ABOVE THIS LINE IS TUNING VALUES ONLY, BELOW IS ACTUAL CODE.
+
+unsigned long tprior;
+unsigned int tDiffMicros;
+
+PseudoSensorController controller(indL, indR, indF, indB, consts, refs, slewRateLimit);
+
+const int dt_micros = 1e6/sampling_rate;
+
+#define LEV_ON
+
+int ON = 0;
+
+void setup() {
+  Serial.begin(115200);
+  setupADC();
+  setupFastPWM();
+
+  indL.alpha = alphaVal;
+  indR.alpha = alphaVal;
+  indF.alpha = alphaVal;
+  indB.alpha = alphaVal;
+
+  tprior = micros();
+  for (PinPair& mc : pinMap) {
+    pinMode(mc.dir, OUTPUT);
+    pinMode(mc.pwm, OUTPUT);
+  }
+}
+
+void loop() {
+  if (Serial.available() > 0) {
+    // this might need to be changed if we have trouble getting serial to read. 
+    char c = Serial.read();
+    while(Serial.available()) Serial.read(); // flush remaining
+
+    controller.outputOn = (c != '0' && c != 'r'); // planning to add r command to set refernce or smth
+  }
+  
+  tDiffMicros = micros() - tprior;
+
+  if (tDiffMicros >= dt_micros){
+    controller.update();
+    controller.report();
+    controller.sendOutputs(); 
+    // this and the previous line can be switched if you want the PWMs to display 0 when controller off.
+    
+    tprior = micros(); // maybe we have to move this line to before the update commands?
+    // since the floating point arithmetic may take a while...
+  }
+}