apps_types.h

 
// TODO: Rename to apps_types.hpp
// TODO: Add namespaces?
// TODO: Add injectable configuration structs apps.
#ifndef __APP_TYPES_H
#define __APP_TYPES_H
 
#include "attitude_types.h"
#include "control_types.hpp"
#include "subsystems_interfaces.h"
#include "subsystems_types.h"
#include "uarm_types.hpp"
 
/* =========================================================================
 * PUBLIC TYPES
 * ====================================================================== */
typedef enum { CTRLER_MODE = 1, PC_MODE } CtrlMode_t;
 
typedef enum {
    PATROL_MODE = 1,
    AUTO_AIM_MODE,
    AUTO_PILOT_MODE,  // full control to mini-pc.
    IDLE_MODE,
    //  PC_MODE
} BoardMode_t;
 
typedef enum {
    GIMBAL_CENTER =
        1,  // relative angle control using encoder, chassis front always facing yaw center
    GIMBAL_FOLLOW,  // relative angle control using encoder, chassis always moving along gimbal coordinate but not align center.
    SELF_GYRO,  // relative angle control using encoder, chassis keep spinning while gimbal can move freely
    INDPET_MODE,  // chassis ground coordinate, or dummy version of self-gyro mode
} BoardActMode_t;  // should be determined by remore controller
 
typedef enum { SHOOT_CONT = 1, SHOOT_CEASE } ShootActMode_t;
enum class ShootState {
    NORMAL,
    ANTIJAM,
};
 
typedef enum { GYRO_MODE = 1, ENCODE_MODE } GimbalMotorMode_t;
 
typedef struct {
    float vx;
    float vy;
    float wz;
} Gimbal_Axis_t;  //for remote controller set gimbal dir
 
/* =========================================================================
 * CHASIS TYPES
 * ====================================================================== */
typedef enum {
    AUTO_GEAR = 0,  //referee system up, auto-adjust chassis spd limit
    MANUAL_GEAR     //referee system down, manual-adjust chassis spd limit
} ChassisGearMode_t;
 
typedef enum {
    NO_GEAR = 0,
    GEAR_LOW = 500,
    GEAR_MID = 1000,
    GEAR_HIGH = 2000
} ChassisGearValue_t;
 
typedef struct {
    uint16_t current;
    float power;
    uint16_t buffer_energy;
} ChassisPowerStat_t;
 
typedef struct {
    float vx;
    float vy;
    float wz;
    float max_vx;
    float max_vy;
    float max_wz;

    float v_parallel;
    float v_perp;

    float gimbal_yaw_rel_angle;
 
    PID2_t spin_pid;  //for Chassis twist(in Gimbal_Center mode)
 
    uint16_t chassis_gear;
    ChassisPowerStat_t ref_power_stat;
    ChassisPowerStat_t local_power_stat;
 
    BoardMode_t chassis_mode;  //chassis mode selection
    BoardActMode_t chassis_act_mode;
    ChassisGearMode_t chassis_gear_mode;
} Chassis_t;
 
/* =========================================================================
 * OMNI DRIVE TYPES
 * ====================================================================== */
typedef struct {
    uint32_t stdid;
    PID2_t f_pid;  //first pid handler for single-loop control
    Ramp sp_ramp;
    Motor_Feedback_t feedback;
} Chassis_Wheel_Control_t;
 
/* =========================================================================
 * SWERVE DRIVE TYPES
 * ====================================================================== */
typedef struct {
    uint32_t stdid;
    PID2_t f_pid;  //first pid handler for single-loop control
    Motor_Feedback_t feedback;
    LK_Motor_Torque_Feedback_t lk_feedback;
    uint32_t angle;
} Swerve_Wheel_Control_t;
 
typedef struct {
    uint32_t stdid;
    PID2_t f_pid;
    Motor_Feedback_t feedback;
} Swerve_Drive_Control_t;
 
typedef struct {
    uint32_t stdid;
    LK_Motor_Torque_Feedback_t lk_feedback;
} Swerve_Steer_Control_t;
 
/* =========================================================================
 * GIMBAL TYPES
 * ====================================================================== */
 
typedef struct Gimbal_t {
    /* gimbal position related */
    float yaw_target_angle;
    float yaw_rel_angle;
    float yaw_ecd_angle;
    float yaw_imu_angle;
 
    float pitch_target_angle;
    float pitch_rel_angle;
    float pitch_ecd_angle;
    float pitch_imu_angle;
 
    int16_t yaw_ecd_center;    //center position of the yaw motor by encoder
    int16_t pitch_ecd_center;  //center position of the pitch motor by encoder
 
    float yaw_imu_center;
    float yaw_imu_center_cumsum;
    uint32_t yaw_imu_center_sample_count;
 
    first_order_low_pass_t
        folp_f_yaw;  //first order low pass filter for imu data
    first_order_low_pass_t
        folp_f_pitch;  //first order low pass filter for imu data;
 
    GimbalMotorMode_t gimbal_motor_mode;       //gyro or encoder
    GimbalMotorMode_t prev_gimbal_motor_mode;  //gyro or encoder
    BoardActMode_t gimbal_act_mode;  //gimbal center, gimbal follow, etc
    BoardActMode_t prev_gimbal_act_mode;
    BoardMode_t gimbal_mode;  //idle(safe) or normal
} Gimbal_t;
 
typedef struct {
    uint32_t stdid;
    PID2_t f_pid;
    PID2_t s_pid;
    Motor_Feedback_t feedback;
} Gimbal_Motor_Control_t;
 
typedef struct {
    uint8_t sample_count;
    float yaw_samples_cumsum;
    float pitch_samples_cumsum;
} Gimbal_Imu_Calibration_t;
 
/* =========================================================================
 * SHOOT TYPES
 * ====================================================================== */
 
struct Shoot {
    float loader_target_rpm;
    float flywheel_target_rpm;
 
    EAmmoLidStatus lid_status;
    ShootActMode_t shoot_act_mode;
    ShootState shoot_state;
 
    float stall_duration;
    float no_stall_duration;
    float antijam_direction;
 
    uint32_t loader_delay_counter;
};
 
struct LoaderControl {
    Motor_CAN_ID_t stdid;
    PID2_t speed_pid;
    Motor_Feedback_t feedback;
};
 
struct FlyWheelControl {
    Motor_CAN_ID_t stdid;
    PID2_t speed_pid;
    Motor_Feedback_t feedback;
    Ramp sp_ramp;
};
 
/* =========================================================================
 * IMU TYPES
 * ====================================================================== */
typedef struct {
    Prescaled_PID2_t pid;
} IMU_Heat_t;
 
/* =========================================================================
 * REFEREE SYSTEM TYPES
 * ====================================================================== */
typedef struct {
    frame_header_t header;
    referee_id_t id;
    game_status_t game_status_data;
    game_result_t game_result_data;
    game_robot_HP_t robot_HP_data;
    robot_status_t robot_status_data;
    power_heat_data_t power_heat_data;
    shoot_data_t shoot_data;
    ref_ui_info_t ref_info_data;
 
    uint8_t ref_data[MAX_REF_RX_DATA_LEN];  // MAX_REF_RX_DATA_LEN
    // rx data
    uint8_t ref_rx_frame[MAX_REF_BUFFER_SIZE];  // MAX_REF_BUFFER_SIZE
    uint16_t ref_cmd_id;
    robot_color_t robot_color;
 
} Referee_t;
 
/* =========================================================================
 * RC TYPES
 * ====================================================================== */
typedef struct {
    /* controll mode selection */
    Controller ctrl;
    PC pc;
    CtrlMode_t control_mode;
 
    /* status update */
    BoardMode_t board_mode;
    BoardActMode_t board_act_mode;
} RemoteControl_t;
#endif