stall.h

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#ifndef STALL_H
#define STALL_H
#include <stdlib.h>
 
namespace bioscara_joint_firmware {
float stall_threshold(float qd_rad, float offset) {
  /* y = ax + b */
  float a = STALL_SLOPE;
  float b = offset;
  if ((abs(qd_rad) >= STALL_WINDOW_B1) && (abs(qd_rad) <= STALL_WINDOW_B2)) {
    b += STALL_WINDOW_OFFSET;
  }
  return a * qd_rad + b;
}
}
#endif