/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.h"
#include "device/motor_rm.h"
#include "component/pid.h"
#include "component/user_math.h"

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

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

// 机器人参数配置
Config_RobotParam_t robot_config = {
    .shoot_param = {
        .trig_motor_param = {
            .can = BSP_CAN_1,
            .id = 0x201,
            .module = MOTOR_M2006,
            .reverse = false,
            .gear = true,
        },
        .trig_pid_param = {
            .k = 12.0f,
            .p = 1.0f,
            .i = 0.0f,
            .d = 0.0450000018f,
            .i_limit = 1.0f,
            .out_limit = 1.0f,
            .d_cutoff_freq = -1.0f,
            .range = M_2PI,
            },
        .num_trig_tooth = 8.0f,
        .fric_radius = 0.03f,
        .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
    }
};

/* 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;
}