clean up

Copy paste deletion

include/Can_OI.h

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+/*
+ * This file is part of the tumanako_vc project.
+ *
+ * Copyright (C) 2020 Johannes Huebner <[email protected]>
+ *                      Damien Maguire <[email protected]>
+ * Yes I'm really writing software now........run.....run away.......
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef CAN_OI_H
+#define CAN_OI_H
+
+#include "inverter.h"
+#include "canhardware.h"
+#include <stdint.h>
+
+#define NODEIDCANOI 1
+
+class Can_OI: public Inverter
+{
+public:
+    void Task100Ms() override;
+    void DecodeCAN(int, uint32_t*) override;
+    void SetTorque(float torquePercent) override;
+    float GetMotorTemperature() override
+    {
+        return motor_temp;
+    }
+    float GetInverterTemperature() override
+    {
+        return inv_temp;
+    }
+    float GetInverterVoltage() override
+    {
+        return voltage;
+    }
+    float GetMotorSpeed() override
+    {
+        return speed;
+    }
+    int GetInverterState() override;
+    void SetCanInterface(CanHardware* c) override;
+    void ConfigCan();
+
+private:
+    static int16_t speed;
+    static int16_t inv_temp;
+    static int16_t motor_temp;
+    static uint16_t voltage;
+    static int16_t final_torque_request;
+    static void handleSDO(uint32_t data[2]);
+};
+
+#endif // CAN_OI_H