/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"
#include "bsp/can.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 = {
		.proj=SHOOT_PROJECTILE_42MM,
		.fric_num=6,
		.extra_deceleration_ratio=1.0f,
        .num_trig_tooth=5,
        .shot_freq=1.0f,
        .shot_burst_num=3,
		.num_multilevel=2,
        .ratio_multilevel = {0.8f, 1.0f},
        .fric_motor_param = {
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x201,
                    .module = MOTOR_M3508,
                    .reverse = false,
                    .gear = false,
                },
                .level=1,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x202,
                    .module = MOTOR_M3508,
                    .reverse = true,
                    .gear = false,
                },
                .level=1,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x203,
                    .module = MOTOR_M3508,
                    .reverse = true,
                    .gear = false,
                },
                .level=1,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x204,
                    .module = MOTOR_M3508,
                    .reverse = false,
                    .gear = false,
                },
                .level=2,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x205,
                    .module = MOTOR_M3508,
                    .reverse = true,
                    .gear = false,
                },
                .level=2,
            },
            {
                .param = {
                    .can = BSP_CAN_2,
                    .id = 0x206,
                    .module = MOTOR_M3508,
                    .reverse = false,
                    .gear = false,
                },
                .level=2,
            }
        },

        .jam_enable=true,
        .jam_threshold=240.0f, 
        .jam_suspected_time=0.5f, 
        .trig_motor_param = {
            .can = BSP_CAN_1,
            .id = 0x207,
            .module = MOTOR_M3508,
            .reverse = false,
            .gear=true,
        },
        
        .fric_follow = {
            .k=1.0f,
            .p=1.8f,
            .i=0.1f,
            .d=0.05f,
            .i_limit=0.1f,
            .out_limit=0.9f, 
            .d_cutoff_freq=30.0f,
            .range=-1.0f,
        },
        .fric_err = {
            .k=0.0f,
            .p=4.0f,
            .i=0.4f,
            .d=0.04f,
            .i_limit=0.25f,
            .out_limit=0.01f, 
            .d_cutoff_freq=40.0f,
            .range=-1.0f, 
        },
        .trig_2006 = {
            .k=2.5f,
            .p=1.0f,
            .i=0.1f,
            .d=0.04f,
            .i_limit=0.4f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=M_2PI,
        },
        .trig_omg_2006 = {
            .k=1.0f,
            .p=1.5f,
            .i=0.3f,
            .d=0.5f,
            .i_limit=0.2f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
        },
        .trig_3508 = {
            .k=0.5f,
            .p=1.8f,
            .i=0.3f,
            .d=0.1f,
            .i_limit=0.15f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=M_2PI,
        },
        .trig_omg_3508 = {
            .k=1.0f,
            .p=1.0f,
            .i=0.0f,
            .d=0.0f,
            .i_limit=0.0f,
            .out_limit=1.0f,
            .d_cutoff_freq=-1.0f,
            .range=-1.0f,
        },
        .filter.fric = {
            .in = 30.0f,
            .out = 30.0f,
        },
        .filter.trig = {
            .in = 30.0f,
            .out = 30.0f,
        },
    }
};


/* 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;
}