/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "user_math.h"
#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 = {

.gimbal_param = {

	/*欧拉角限位和电机角度限位*/
	 .Set_Limit_t= {
						.pit_max=0.69,
						.pit_min=-0.47,
						.yaw_max= 1.0,//yaw的
						.yaw_min=-1.0,
	},
	 

			.feedforward={
				.imu = {
					.yaw=false,
					.pit=false,
					.coefficient_yaw=0,
					.coefficient_pit=0,
					},

			},
			
			/*零点参数*/
				.gimbal_zero={
					.pit_encoder=0,
					.yaw_encoder=0,
					/*零点行程*/
						.travel={
							.yaw=0,
							.pit=0,
					},
				},
				
				.motor={
					/*按自己需求选择电机*/
					.pit=DM,
					.yaw=RM,
					/*是否开启限位*/
					.limit_yaw=false,
					.limit_pit=true,
					.pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,false},
					.yaw_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false},	
						/*达妙电机参数自己配*/
					.pit_dm_motor={},
					.yaw_dm_motor={},
				},
			.dm_Params_t={
			.yaw_dm={.kd=0.3,},
			.yaw_dm_Reduction_ratio=8.0f,//减速比
			.pit_dm={.kd=1.0,},
			.pit_dm_Reduction_ratio=5.0f,
		},
			
    .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 = 12.0f,
                .p = 2.1,
                .i = 0.0f,
                .d = 0.0f,
                .i_limit = 0.0f,
                .out_limit = 10.0f,
                .d_cutoff_freq = -1.0f,
                .range = M_2PI,
            },		
					}       
		},
};


/**
 * @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;
}