/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "user_math.h"
#include "module\config.h"
#include "bsp\can.h"
#include "module\shoot.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

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

// 机器人参数配置
Config_RobotParam_t robot_config = {


	
.gimbal_param = {
	/* 云台欧拉角与角速度自由选择 */
	.Direction={
			.Eulr={
					.pit=Pit,
					.yaw=Yaw,			
				},
			.Gyro={
					.pit=Gyro_x,
					.yaw=Gyro_z,
			},	

			
	},
	/*欧拉角限位和电机角度限位*/
	 .Limit_t= {
						.pit_max= 0.462614686,
						.pit_min=-0.518002629,
		 			/*零点参数*/
				.zero={
					.yaw_encoder=1.26,
					
					.travel={
						.yaw=1.5,				
					},
				},
			},
	 

			.feedforward={
				.imu = {
					.yaw=false,
					.pit=false,
					},

			},
			

				
				.motor={
					/*按自己需求选择电机*/
//					.major_yaw=DM,
					.pit=RM,
					.yaw=RM,
					/*是否开启限位*/
					.limit_yaw=false,
					.limit_pit=true,
					.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,true,false},
					.yaw_rm_motor={BSP_CAN_2,0x209,MOTOR_GM6020,false,false},	
						/*达妙电机参数自己配*/

				},
			.dm_Params_t={
		},
			
    .low_pass_cutoff_freq = {
      .out = -1.0f,
      .gyro = 1000.0f,
    },

       .pid = {
					/*欧拉角控制参数*/
             .yaw_omega = {
                .k = 0.45f,
                .p = 1.0f,
                .i = 6.0f,
                .d = 0.0008f,//0
                .i_limit = 1.0f,
                .out_limit = 1.0f,
                .d_cutoff_freq = -1.0f,
                .range = -1.0f,
            },
            .yaw_angle = {
                .k = 10.0f,
                .p =	2.0f ,
                .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 = 0.001901f,
                .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,
            },		
					}        
		},

		.shoot_param = {
        .basic={
          .projectileType=SHOOT_PROJECTILE_17MM,
		      .fric_num=2,
		      .extra_deceleration_ratio=1.0f,
          .num_trig_tooth=10,
          .shot_freq=20.0f,
          .shot_burst_num=5,
          .ratio_multilevel = {1.0f},
        },   
        .jamDetection={
            .enable=true,
            .threshold=105.0f, 
            .suspectedTime=1.0f, 
        },
        .motor={
            .fric = {
                {
                    .param = {
                        .can = BSP_CAN_2,
                        .id = 0x205,
                        .module = MOTOR_M3508,
                        .reverse = true,
                        .gear = false,
                    },
                    .level=1,
                },
                {
                    .param = {
                        .can = BSP_CAN_2,
                        .id = 0x206,
                        .module = MOTOR_M3508,
                        .reverse = false,
                        .gear = false,
                    },
                    .level=1,
                },

            },
            .trig = {
                .can = BSP_CAN_2,
                .id = 0x207,
                .module = MOTOR_M2006,
                .reverse = true,
                .gear=true,
            },
        },
        .pid={      
            .fric_follow = {
                .k=1.0f,
                .p=1.5f,
                .i=0.3f,
                .d=0.0f,
                .i_limit=0.2f,
                .out_limit=0.9f, 
                .d_cutoff_freq=-1.0f,
                .range=-1.0f,
            },
            .fric_err = {
                .k=0.0f,
                .p=4.0f,
                .i=0.4f,
                .d=0.0f,
                .i_limit=0.25f,
                .out_limit=0.25f, 
                .d_cutoff_freq=-1.0f,
                .range=-1.0f, 
            },
            .trig_2006 = {
								.k = 1.0f,
								.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,
            },
//            .trig_omg_2006 = {
//                .k=0.0f,
//                .p=1.0f,
//                .i=0.3f,
//                .d=0.5f,
//                .i_limit=0.2f,
//                .out_limit=1.0f,
//                .d_cutoff_freq=-1.0f,
//                .range=-1.0f,
//            },

        },
		.filter={
            .fric = {
                .in = 30.0f,
                .out = 30.0f,
            },
            .trig = {
                .in = 30.0f,
                .out = 30.0f,
            },
        },  
    },		
		.chassis_param = {
    /* DJI3508电机*/
    .motor_param = {
      { 
			.can = BSP_CAN_1, 
			.id = 0x201, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true
			},
      { 
			.can = BSP_CAN_1,
			.id = 0x202, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true
			},
      { 
			.can = BSP_CAN_1, 
			.id = 0x203, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true				
			},
      { 
			.can = BSP_CAN_1,
			.id = 0x204, 
			.module = MOTOR_M3508, 
			.reverse = false,
			.gear =  true	
			},
    },
		.type = CHASSIS_TYPE_MECANUM,
    /* PID  */
    .pid = {
      /* 底盘电机 PID */
      .motor_pid_param = {
				.k = 0.001f,
				.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,
      },

      /* 跟随 */
      .follow_pid_param = {
					.k = 0.5f,
					.p = 1.0f,
					.i = 0.0f,
					.d = 0.0f,
					.i_limit = 1.0f,
					.out_limit = 1.0f,
					.d_cutoff_freq = -1.0f,
					.range = M_2PI,
      },
    },

    .low_pass_cutoff_freq = {
      .in = 50.0f,
      .out = 50.0f,
    },

    .reverse = {
      .yaw = false,
    },
		.limit = {
      .max_vx = 3.0f,     
      .max_vy = 3.0f,
      .max_wz = 2.0f,    
      .max_current = 16000.0f 
    },
  },
};

/**
 * @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;
}