chassis_config.hpp

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#ifndef FANG_ROBOTICS_MCB_CHASSIS_CONFIG_PIERCE_HPP
#define FANG_ROBOTICS_MCB_CHASSIS_CONFIG_PIERCE_HPP
 
#include "robot/variant/pierce/custom_variant/subsystem/pierce_mecanum_drive.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::robot 
{
// Construct on first use idiom ahhhh
using namespace units::literals;
 
//pwm initialization
static const auto kPwmTimer{tap::gpio::Pwm::TIMER1};
static const Hertz kPwmFrequency{400};
static const Volts kControllerInputVoltage{24};
 
//All motors are assume to move counterclockwise when given a positive signal
static bool kLeftMotorInversion{false};
static bool kRightMotorInversion{true};
 
static double kUltraMk2GearRatio{14.0};
 
static double kMotorRampSpeed{750}; //RepeatUltraMk2 RPM per Second
 
 
static const chassis::PierceMecanumDrive::Motor::Config kFrontLeftMotorConfig
{
    .controllerInputVoltage = kControllerInputVoltage,
    .pwmData = {tap::gpio::Pwm::C1, kPwmFrequency},
    .inverted = kLeftMotorInversion,
    .gearRatio = kUltraMk2GearRatio,
    .rampSpeed = kMotorRampSpeed
};
 
static const chassis::PierceMecanumDrive::Motor::Config kFrontRightMotorConfig
{
    .controllerInputVoltage = kControllerInputVoltage,
    .pwmData = {tap::gpio::Pwm::C2, kPwmFrequency},
    .inverted = kRightMotorInversion,
    .gearRatio = kUltraMk2GearRatio,
    .rampSpeed = kMotorRampSpeed
};
 
static const chassis::PierceMecanumDrive::Motor::Config kRearLeftMotorConfig
{
    .controllerInputVoltage = kControllerInputVoltage,
    .pwmData = {tap::gpio::Pwm::C3, kPwmFrequency},
    .inverted = kLeftMotorInversion,
    .gearRatio = kUltraMk2GearRatio,
    .rampSpeed = kMotorRampSpeed
};
 
static const chassis::PierceMecanumDrive::Motor::Config kRearRightMotorConfig
{
    .controllerInputVoltage = kControllerInputVoltage,
    .pwmData = {tap::gpio::Pwm::C4, kPwmFrequency},
    .inverted = kRightMotorInversion,
    .gearRatio = kUltraMk2GearRatio,
    .rampSpeed = kMotorRampSpeed
};
 
static const chassis::PierceMecanumDrive::MotorConfigs kMotorConfigs
{
    .frontLeft = kFrontLeftMotorConfig,
    .frontRight = kFrontRightMotorConfig,
    .rearLeft = kRearLeftMotorConfig,
    .rearRight = kRearRightMotorConfig,
};
 
static const chassis::PierceMecanumDrive::PowerLimiter::Config kChassisPowerLimiterConfig
{
    .startingEnergyBuffer       = 80_J,
    .energyBufferLimitThreshold = 5_J,
    .energyBufferCritThreshold  = 30_J
};
 
static const chassis::FieldMecanumLogic::Config kFieldMecanumLogicConfig
{
    150_mm, //Wheel Radius
    15_in,  //Vertical Wheel Distance
    13.5_in   //Horizontal Wheel Distance
};
 
static const chassis::PierceMecanumDrive::Config kChassisConfig 
{
    .motorConfigs        = kMotorConfigs,
    .powerLimiterConfig  = kChassisPowerLimiterConfig,
    .fieldMecanumConfig  = kFieldMecanumLogicConfig,
    .chassisPwmFrequency = kPwmFrequency,
    .pwmTimer            = kPwmTimer,
};
}
#endif