/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.h"
#include "device/motor_dm.h"
#include "device/motor_rm.h"
#include "component/pid.h"
#include "component/user_math.h"
#include "device/rc_can.h"
#include <stdbool.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_step_angle=M_2PI/8,
            .fric_motor_param[0] = {
                .can = BSP_CAN_2,
                .id = 0x201,
                .module = MOTOR_M3508,
                .reverse = true,
                .gear=false,
            },
            .fric_motor_param[1] = {
                .can = BSP_CAN_2,
                .id = 0x202,
                .module = MOTOR_M3508,
                .reverse = false,
                .gear=false,
            },
            .trig_motor_param = {
                .can = BSP_CAN_1,
                .id = 0x201,
                .module = MOTOR_M2006,
                .reverse = false,
                .gear=true,
            },
            .fric_follow = {
                .k=1.0f,
                .p=1.8f,
                .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 = {
                .k=1.0f,
                .p=1.2f,
                .i=0.0f,
                .d=0.05f,
                .i_limit=0.2f,
                .out_limit=0.9f,
                .d_cutoff_freq=30.0f,
                .range=-1.0f,
            },
            .filter.fric = {
                .in = 30.0f,
                .out = 30.0f,
            },
            .filter.trig = {
                .in = 30.0f,
                .out = 30.0f,
            },
    
        
        },
    .gimbal_param = {
        .pid = {
            .yaw_omega = {
                .k = 0.5f,
                .p = 1.0f,
                .i = 0.5f,
                .d = 0.0f,
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .yaw_angle = {
                .k = 10.0f,
                .p = 3.0f,
                .i = 0.0f,
                .d = 0.1f,
                .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 = 2.0f,
                .p = 5.0f,
                .i = 2.5f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },
        },
        .mech_zero = {
            .yaw = 0.0f,
            .pit = 3.8f,
        },
        .travel = {
            .yaw = -1.0f,
            .pit = 0.8f,
        },
        .low_pass_cutoff_freq = {
            .out = -1.0f,
            .gyro = 1000.0f,
        },
        .pit_motor ={
            .can = BSP_CAN_2,
            .id = 0x209,
            .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,
        }
    },
    .rc_can_param = {
        .can = BSP_CAN_1,
        .mode = RC_CAN_MODE_MASTER,
        .joy_id = 0x250,
        .sw_id = 0x251,
        .mouse_id = 0x252,
        .keyboard_id = 0x253,
    },
};

/* 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;
}