old_chassis_config.hpp

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#ifndef FANG_ROBOTICS_MCB_CHASSIS_CONFIG_PIERCE_HPP
#define FANG_ROBOTICS_MCB_CHASSIS_CONFIG_PIERCE_HPP
 
#include "control/chassis/drive/holonomic/mecanum/mecanum_drive/old_repeat_ultra_mk2_mecanum_subsystem.hpp"
#include "wrap/units/units_alias.hpp"
 
namespace fang::robot 
{
    static const Hertz k_chassisPwmFreq{400};
 
    using namespace units::literals;
        
    static const chassis::RepeatUltraMk2MecanumSubsystem::ChassisDimensionConfig k_defaultDimensionConfig
    {
        150_mm, //Wheel Radius
        15_in,  //Vertical Wheel Distance
        13.5_in   //Horizontal Wheel Distance
    };
 
    static const chassis::RepeatUltraMk2MecanumSubsystem::DriveMotor::UnifiedProperties k_unifiedMotorProperties
    {
        24.0_V,                                      //Controller Input Voltage
        fang::motor::Directionality::BIDIRECTIONAL, //Directionality
        14.0                                         //GearRatio
    };
    static const chassis::RepeatUltraMk2MecanumSubsystem::ChassisMotorConfig k_defaultMotorConfig
    {
        k_unifiedMotorProperties,                   //Unified motor properties
        trap::gpio::PwmData{tap::gpio::Pwm::C1, k_chassisPwmFreq},    //Front Left PwmData
        trap::gpio::PwmData{tap::gpio::Pwm::C2, k_chassisPwmFreq},    //Front Right PwmData
        trap::gpio::PwmData{tap::gpio::Pwm::C3, k_chassisPwmFreq},    //Rear Left PwmData
        trap::gpio::PwmData{tap::gpio::Pwm::C4, k_chassisPwmFreq}     //Rear Right PwmData
    };
 
    static const chassis::RepeatUltraMk2MecanumSubsystem::PowerLimiter::Config k_chassisPowerLimiterConfig
    {
        .startingEnergyBuffer       = 80_J,
        .energyBufferLimitThreshold = 5_J,
        .energyBufferCritThreshold  = 30_J
    };
 
    static const chassis::RepeatUltraMk2MecanumSubsystem::ChassisConfig k_chassisConfig
    {
        .pwmFrequency           = k_chassisPwmFreq,
        .pwmTimer               = tap::gpio::Pwm::TIMER1,
        .translationRampSpeed   = 10,
        .rotationRampSpeed      = 700,
        .chassisDimensions      = k_defaultDimensionConfig,
        .chassisMotors          = k_defaultMotorConfig,
        .powerLimiterConfig     = k_chassisPowerLimiterConfig
    };
}
#endif