/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include <stdbool.h>


/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

/* Exported variables ------------------------------------------------------- */

/**
 * @brief 机器人参数配置
 * @note 在此配置机器人参数
 */
Config_RobotParam_t robot_config = {
    /* USER CODE BEGIN robot_config */

    .gimbal_param = {
        .pid = {
            .yaw_omega = {
                .k = 0.25f,
                .p = 1.0f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .yaw_angle = {
                .k = 7.0f,
                .p = 3.5f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
            .pit_omega = {
                .k = 0.25f,
                .p = 1.0f,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .pit_angle = {
                .k = 2.5f,
                .p = 5.0f,
                .i = 0.2f,
                .d = 0.01f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
        },
        .mech_zero = {
            .yaw = 0.0f,
            .pit = 2.2f,
        },
        .travel = {
            .yaw = -1.0f,
            .pit = 0.85f,
        },
        .low_pass_cutoff_freq = {
            .out = -1.0f,
            .gyro = 1000.0f,
        },
        .pit_motor ={
            .can = BSP_CAN_1,
            .id = 0x206,
            .gear = false,
            .module = MOTOR_GM6020,
            .reverse = true,
        },
        .yaw_motor = {
            .can = BSP_CAN_1,
            .can_id = 0x1,
            .master_id = 0x11,
            .module = MOTOR_DM_J4310,
            .reverse = false,
        },
        .imu = {
            .can = BSP_CAN_2,
            .accl_id = 0x100,  // 加速度计 (十进制256)
            .gyro_id = 0x101,  // 陀螺仪 (十进制257)
            .eulr_id = 0x102,  // 欧拉角 (十进制258)
            .quat_id = 0x103   // 四元数 (十进制259)
        },
        
    },



    .shoot_param = {
            .trig_step_angle=M_2PI/8,
            .shot_delay_time=0.05f,
            .shot_burst_num=1,
            .fric_motor_param[0] = {
                .can = BSP_CAN_1,
                .id = 0x201,
                .module = MOTOR_M3508,
                .reverse = false,
                .gear=false,
            },
            .fric_motor_param[1] = {
                .can = BSP_CAN_1,
                .id = 0x202,
                .module = MOTOR_M3508,
                .reverse = true,
                .gear=false,
            },
            .trig_motor_param = {
                .can = BSP_CAN_1,
                .id = 0x203,
                .module = MOTOR_M2006,
                .reverse = true,
                .gear=true,
            },
            .fric_follow = {
                .k=1.0f,
                .p=1.5f,
                .i=0.0f,
                .d=0.0f,
                .i_limit=0.0f,
                .out_limit=0.9f, 
                .d_cutoff_freq=30.0f,
                .range=-1.0f,
            },
            
            .fric_err = {
                .k=1.0f,
                .p=4.0f,
                .i=0.4f,
                .d=0.04f,
                .i_limit=0.25f,
                .out_limit=0.25f, 
                .d_cutoff_freq=40.0f,
                .range=-1.0f, 
            },
            .trig_omg = {
            .k=1.0f,
            .p=1.5f,
            .i=0.3f,
            .d=0.5f,
            .i_limit=0.2f,
            .out_limit=0.9f,
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
            },
            .trig = {
                .k=1.0f,
                .p=1.0f,
                .i=0.1f,
                .d=0.05f,
                .i_limit=0.8f,
                .out_limit=0.5f,
                .d_cutoff_freq=-1.0f,
                .range=M_2PI,
            },
            .filter.fric = {
                .in = 30.0f,
                .out = 30.0f,
            },
            .filter.trig = {
                .in = 30.0f,
                .out = 30.0f,
            },
        },

    .chassis_param = {
        .yaw={
            .k=1.0f,
            .p=1.0f,
            .i=0.0f,
            .d=0.3f,
            .i_limit=0.0f,
            .out_limit=1.0f,
            .d_cutoff_freq=30.0f,
            .range=M_2PI, /* 2*PI，用于处理角度循环误差 */
        },
        
        .roll={
            .k=0.2f,
            .p=0.5f,           /* 横滚角比例系数 */
            .i=0.01f,           /* 横滚角积分系数 */
            .d=0.01f,           /* 横滚角微分系数 */
            .i_limit=0.2f,     /* 积分限幅 */
            .out_limit=1.0f,  /* 输出限幅，腿长差值限制 */
            .d_cutoff_freq=30.0f, /* 微分截止频率 */
            .range=-1.0f,      /* 不使用循环误差处理 */
        },

        .leg_length={
            .k = 40.0f,
            .p = 20.0f,
            .i = 0.01f,
            .d = 2.0f,
            .i_limit = 0.0f,
            .out_limit = 200.0f,
            .d_cutoff_freq = -1.0f,
            .range = -1.0f,
        },

        .leg_theta={
            .k=5.0f,
            .p=2.0f,           /* 摆角比例系数 */
            .i=0.0f,           /* 摆角积分系数 */
            .d=0.0f,           /* 摆角微分系数 */
            .i_limit=0.0f,     /* 积分限幅 */
            .out_limit=0.05f,  /* 输出限幅，腿长差值限制 */
            .d_cutoff_freq=30.0f, /* 微分截止频率 */
            .range=-1.0f,      /* 不使用循环误差处理 */
        },

        .tp={
            .k=4.0f,
            .p=3.0f,          /* 俯仰角比例系数 */
            .i=0.0f,           /* 俯仰角积分系数 */
            .d=0.0f,           /* 俯仰角微分系数 */
            .i_limit=0.0f,     /* 积分限幅 */
            .out_limit=10.0f,   /* 输出限幅，腿长差值限制 */
            .d_cutoff_freq=30.0f, /* 微分截止频率 */
            .range=-1.0f,      /* 不使用循环误差处理 */
        },
        
        .low_pass_cutoff_freq = {
            .in = 30.0f,
            .out = 30.0f,
        },

        .yaw_motor = { // 云台Yaw轴电机
            .can = BSP_CAN_1,
            .can_id = 0x1,
            .master_id = 0x11,
            .module = MOTOR_DM_J4310,
            .reverse = false,
        },
        
        .joint_param = {
            { // 左髋关节
                .can = BSP_CAN_3,
                .motor_id = 124,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = false,
                .mode = MOTOR_LZ_MODE_MOTION,
                },
            { // 右髋关节
                .can = BSP_CAN_3,
                .motor_id = 125,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = false,
                .mode = MOTOR_LZ_MODE_MOTION,
                },
            { // 左膝关节
                 .can = BSP_CAN_3,
                .motor_id = 126,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = true,
                .mode = MOTOR_LZ_MODE_MOTION,
                },
            { // 右膝关节
                .can = BSP_CAN_3,
                .motor_id = 127,
                .host_id = 0xFF,
                .module = MOTOR_LZ_RSO3,
                .reverse = true,
                .mode = MOTOR_LZ_MODE_MOTION,
                },
        },
        
        .wheel_param = {
            { // 左轮电机
                .can = BSP_CAN_3,
                .id = 0x142,
                .module = MOTOR_LK_MF9025,
                .reverse = false,
            },
            { // 右轮电机
                .can = BSP_CAN_3,
                .id = 0x141,
                .module = MOTOR_LK_MF9025,
                .reverse = true,
            },
        },

        .mech_zero_yaw = 1.78040409f, /* 机械零点 */

                .vmc_param = {
            { // 左腿
                .leg_1 = 0.215f,      // 后髋连杆长度 (L1) (m)
                .leg_2 = 0.258f,      // 后膝连杆长度 (L2) (m)
                .leg_3 = 0.258f,      // 前膝连杆长度 (L3) (m)
                .leg_4 = 0.215f,      // 前髋连杆长度 (L4) (m)
                .hip_length = 0.0f    // 髋宽 (L5) (m)
            },
            { // 右腿
                .leg_1 = 0.215f,      // 后髋连杆长度 (L1) (m)
                .leg_2 = 0.258f,      // 后膝连杆长度 (L2) (m)
                .leg_3 = 0.258f,      // 前膝连杆长度 (L3) (m)
                .leg_4 = 0.215f,      // 前髋连杆长度 (L4) (m)
                .hip_length = 0.0f    // 髋宽 (L5) (m)
            }
        },

.lqr_gains = {
    .k11_coeff = { -2.210764178888050e+02f, 2.426363711747753e+02f, -1.195592871161101e+02f, -3.943946668753056e+00f }, // theta
    .k12_coeff = { -2.137164311515632e+00f, 1.217737477437830e+00f, -9.525046061205586e+00f, -3.204960462460905e-01f },  // d_theta
    .k13_coeff = { -5.403421185903361e+01f, 5.400834583224349e+01f, -1.871421701200579e+01f, -2.187399624044644e+00f },  // x
    .k14_coeff = { -4.592744044784984e+01f, 4.660766512779469e+01f, -1.805265440365850e+01f, -2.699994690713614e+00f },  // d_x
    .k15_coeff = { -9.685784551581214e+01f, 1.159388980795003e+02f, -5.296171221139453e+01f, 1.123906253873898e+01f }, // phi
    .k16_coeff = { -2.294801139621741e+01f, 2.749641396600526e+01f, -1.259823164155369e+01f, 2.761284676172917e+00f },  // d_phi
    .k21_coeff = { 7.727438740554770e+01f, -3.291782819657940e+01f, -1.757884718209812e+01f, 1.497962178015115e+01f }, // theta
    .k22_coeff = { -4.313876591098404e-01f, 3.014310593976116e+00f, -2.775571423570345e+00f, 1.949396772465259e+00f },  // d_theta
    .k23_coeff = { -8.163301739920055e+01f, 9.889264843312036e+01f, -4.547892032101780e+01f, 9.369462147227104e+00f },  // x
    .k24_coeff = { -1.025410522837800e+02f, 1.187387974704523e+02f, -5.202150278239223e+01f, 1.038835798060997e+01f },  // d_x
    .k25_coeff = { 2.742584002836992e+02f, -2.735816033702905e+02f, 9.479793291043821e+01f, 7.314831370012082e+00f }, // phi
    .k26_coeff = { 6.734357804702088e+01f, -6.735254573603545e+01f, 2.346143287673895e+01f, 1.501777400084277e+00f },  // d_phi
},
    .jump_params = {
        .crouch_time_ms = 300,
        .launch_time_ms = 120,
        .retract_time_ms = 80,
        .land_time_ms = 300,
        .crouch_leg_length = 0.14f,
        .launch_force = 200.0f,
        .retract_leg_length = 0.16f,   /* 收腿目标更短 */
        .retract_force = -120.0f,      /* 收腿前馈力加大 */
    },
        .theta = 0.0f,
        .x = 0.0f,
        .phi = -0.1f,
    
    },

    .ai_param = {
        .can = BSP_FDCAN_2,
        .vision_id = 0x104,
    },
    /* USER CODE END robot_config */
};

/* Private function prototypes ---------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * @brief 获取机器人配置参数
 * @return 机器人配置参数指针
 */
Config_RobotParam_t* Config_GetRobotParam(void) {
    return &robot_config;
}