ammo_booster_config.hpp

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#pragma once
#include "robot/variant/pierce/custom_variant/subsystem/pierce_ammo_booster.hpp"
#include "wrap/units/units_alias.hpp"
 
#include "units.h"
 
namespace fang::robot 
{
 
using AmmoBooster = turret::PierceAmmoBooster;
using Flywheel = AmmoBooster::Flywheel;
 
using namespace units::literals;
 
static const Meters kFlywheelRadius{30_mm};
 
static const trap::motor::DjiSpeedPid::Config kFlywheelMotorPidConfig 
{
    .kp             = 10,
    .ki             = 0,
    .kd             = 0,
    .maxICumulative = 0,
    .maxOutput      = trap::motor::DjiM3508Old::k_maxOutput
};
 
static const Flywheel::Motor::Config kLeftFlywheelMotorConfig
{ 
    .motorId        = tap::motor::MOTOR7,
    .canBus         = tap::can::CanBus::CAN_BUS1,
    .name           = "leftFlywheel",
    .inverted       = false,
    .gearRatio      = 1.0, //No gearbox attached
    .speedPidConfig = kFlywheelMotorPidConfig
};
 
static const Flywheel::Config kLeftFlywheelConfig 
{
    .radius         = kFlywheelRadius,
    .motorConfig    = kLeftFlywheelMotorConfig
};
 
static const Flywheel::Motor::Config kRightFlywheeMotorConfig 
{ 
    .motorId        = tap::motor::MOTOR8,
    .canBus         = tap::can::CanBus::CAN_BUS1,
    .name           = "rightFlywheel",
    .inverted       = true,
    .gearRatio      = 1.0, //No gearbox attached
    .speedPidConfig = kFlywheelMotorPidConfig
};
 
static const Flywheel::Config kRightFlywheelConfig
{
    .radius         = kFlywheelRadius,
    .motorConfig    = kRightFlywheeMotorConfig
};
 
static const AmmoBooster::Config kAmmoBoosterConfig
{
    .ammoVelocity           = 18_mps,
    .leftFlywheelConfig     = kLeftFlywheelConfig,
    .rightFlywheelConfig    = kRightFlywheelConfig
};
}