feeder_config.hpp

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#ifndef FANG_ROBOTICS_MCB_FEEDER_CONFIG_HPP
#define FANG_ROBOTICS_MCB_FEEDER_CONFIG_HPP
#include "control/turret/feeder/simple_feeder/m2006_simple_feeder.hpp"
#include "wrap/trap/motor/dji_m2006_old.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::robot 
{
using namespace units::literals;
static const trap::motor::DjiSpeedPid::Config kFeederMotorPidConfig
{
    20,
    0,
    0,
    100,
    trap::motor::DjiM2006Old::k_maxOutput
};
 
static const trap::motor::DjiM2006Old::Config kFeederMotorConfig
{ 
    tap::motor::MOTOR3,
    tap::can::CanBus::CAN_BUS1,
    "Feeder Motor",
    false,
    10,
    kFeederMotorPidConfig
};
 
 
 
static const turret::SimpleFeeder::HeatLimiter::Config kFeederHeatLimiterConfig
{
    .criticalHeatLimit  = 220,
    .turretId           = turret::TurretId::TURRET_17MM_1
 
};
 
static const turret::SimpleFeeder::Config kFeederSystemConfig
{
    .roundsPerRevolution    = 7,
    .feedRate               = 5_Hz,
    .unjamSpeed             = 30_rpm,
    .heatLimiterConfig      = kFeederHeatLimiterConfig
};
 
static const turret::M2006SimpleFeeder::Config kFeederMakerConfig
{
    .feedMotorConfig = kFeederMotorConfig,
    .feederConfig = kFeederSystemConfig 
};
}
#endif