/*
 * 英雄履带控制
 */
 

/* Includes ----------------------------------------------------------------- */
#include <math.h>
#include <string.h>
#include "track.h"
#include "bsp/mm.h"
#include "bsp/time.h"
#include "component/filter.h"
#include "component/user_math.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */

/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

/* Private function  -------------------------------------------------------- */

/* Exported functions ------------------------------------------------------- */
uint8_t TRACK_Init(Track_t *t, Track_Params_t *param, float target_freq)
{
    if (t == NULL || param == NULL) {
        return TRACK_ERR_NULL; // 参数错误
    }
    t->param = param;

    for (int i=0; i<TRACK_MOTOR_NUM; i++) {
    PID_Init(&t->pid[i], KPID_MODE_CALC_D, target_freq, &param->pid[i]);
    }
    return TRACK_OK;
}

uint8_t TRACK_Control(Track_t *t, Track_CMD_t *cmd)
{
    if (t == NULL || cmd == NULL) {
        return TRACK_ERR_NULL; // 参数错误
    }
    t->timer.now = BSP_TIME_Get_us()/1000000.0f;
    t->timer.dt = t->timer.now - t->timer.lask_wakeup/1000000.0f;
    t->timer.lask_wakeup = BSP_TIME_Get_us();
    
    for (int i=0; i<TRACK_MOTOR_NUM; i++) {
      t->output.iout[i] = PID_Calc(&t->pid[i], cmd->vel, t->motor.feedback.rotor_speed, 0.0f, t->timer.dt);
      MOTOR_RM_SetOutput(&t->param->motor[i], t->output.iout[i]);
    }
    MOTOR_RM_Ctrl(&t->param->motor[0]);
    return TRACK_OK;
}