//////////////////////////////////////////////////////////////////////////////
// Copyright 2026 Monterey Bay Aquarium Research Institute                  //
// Monterey Bay Aquarium Research Institute Proprietary Information.        //
// All rights reserved.                                                     //
//////////////////////////////////////////////////////////////////////////////
#ifndef LARS_DATA_HPP  // include guard
#define LARS_DATA_HPP

#include <cstdint>

#pragma pack(push, 1) // push current alignment and set new alignment to 1

namespace lars
{
    class data
    {
        public:
            // LARS data payload
            int32_t TargetTension;
            int32_t LoadcellTension;

	    float TractionWinchCommandedTorque;
	    float TractionWinchCommandedRPM;
	    float TractionWinchActualTorque;
	    float TractionWinchActualRPM;

            float PID_p;
            float PID_i;
            float PID_d;
            float PID_error;
     };
};

#pragma pack(pop) // restore previous alignment

#endif