real_world_constants.h

#pragma once
 
#include "../CAN/CANUtils.h"
#include "../Constants.h"
#include "data.h"
 
#include <chrono>
#include <cstdint>
#include <unordered_map>
#include <unordered_set>
 
#include <frozen/unordered_map.h>
#include <frozen/unordered_set.h>
 
namespace robot {
 
using types::motorid_t;

struct pidcoef_t {
    int32_t kP, kI, kD;
};
 
// TODO: measure to see optimal telemetry period
constexpr std::chrono::milliseconds TELEM_PERIOD(50);

struct potparams_t {
    uint16_t adc_lo;
    int32_t mdeg_lo;
    uint16_t adc_hi;
    int32_t mdeg_hi;
};
 
struct encparams_t {
    bool isInverted;
    int ppjr;
    int limitSwitchLow;
    int limitSwitchHigh;
    double zeroCalibrationPower;
};
 
// clang-format off
constexpr auto encMotors = frozen::make_unordered_map<motorid_t, encparams_t>({
    {motorid_t::shoulder,
        {.isInverted = true,
        .ppjr = 4590 * 1024 * 4,
        .limitSwitchLow = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).first,
        .limitSwitchHigh = Constants::arm::JOINT_LIMITS.at(robot::types::motorid_t::shoulder).second,
        .zeroCalibrationPower = 0.4}},
});
 
constexpr double FOURBAR_GEAR_RATIO = 71.71875;
// clang-format on
 
// TODO: find appropriate bounds
constexpr auto potMotors = frozen::make_unordered_map<motorid_t, potparams_t>({
    {motorid_t::forearm,
     {.adc_lo = 1208, .mdeg_lo = -180 * 1000, .adc_hi = 841, .mdeg_hi = 180 * 1000}},
    {motorid_t::wristDiffLeft,
     {.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
    {motorid_t::wristDiffRight,
     {.adc_lo = 0, .mdeg_lo = -100 * 0, .adc_hi = 0, .mdeg_hi = 100 * 0}},
    {motorid_t::fourbar1, {.adc_lo = 8, .mdeg_lo = 75200, .adc_hi = 8, .mdeg_hi = 267500}},
});

constexpr auto motorSerialIDMap = frozen::make_unordered_map<motorid_t, can::deviceserial_t>(
    {{motorid_t::leftTread, DEVICE_SERIAL_TREAD_LEFT},
     {motorid_t::rightTread, DEVICE_SERIAL_TREAD_RIGHT},
     {motorid_t::armBase, DEVICE_SERIAL_MOTOR_BASE},
     {motorid_t::shoulder, DEVICE_SERIAL_MOTOR_SHOULDER},
     {motorid_t::elbow, DEVICE_SERIAL_MOTOR_ELBOW},
     {motorid_t::forearm, DEVICE_SERIAL_MOTOR_FOREARM},
     {motorid_t::wristDiffLeft, DEVICE_SERIAL_MOTOR_WRIST_DIFF_LEFT},
     {motorid_t::wristDiffRight, DEVICE_SERIAL_MOTOR_WRIST_DIFF_RIGHT},
     {motorid_t::hand, DEVICE_SERIAL_MOTOR_HAND},
     {motorid_t::drillActuator, DEVICE_SERIAL_DRILL_ACTUATOR},
     {motorid_t::drillMotor, DEVICE_SERIAL_DRILL_MOTOR},
     {motorid_t::fourbar1, DEVICE_SERIAL_FOUR_BAR_LINKAGE_1},
     {motorid_t::fourbar2, DEVICE_SERIAL_FOUR_BAR_LINKAGE_2},
   {motorid_t::scienceServoBoard, DEVICE_SERIAL_SCIENCE_SERVO},
   {motorid_t::scienceStepperBoard, DEVICE_SERIAL_SCIENCE_STEPPER}});
 
constexpr auto motorGroupMap = frozen::make_unordered_map<motorid_t, can::devicegroup_t>(
    {{motorid_t::leftTread, can::devicegroup_t::motor},
     {motorid_t::rightTread, can::devicegroup_t::motor},
     {motorid_t::armBase, can::devicegroup_t::motor},
     {motorid_t::shoulder, can::devicegroup_t::motor},
     {motorid_t::elbow, can::devicegroup_t::motor},
     {motorid_t::forearm, can::devicegroup_t::motor},
     {motorid_t::wristDiffLeft, can::devicegroup_t::motor},
     {motorid_t::wristDiffRight, can::devicegroup_t::motor},
     {motorid_t::hand, can::devicegroup_t::motor},
     {motorid_t::drillActuator, can::devicegroup_t::science},
     {motorid_t::drillMotor, can::devicegroup_t::science},
     {motorid_t::fourbar1, can::devicegroup_t::science},
     {motorid_t::fourbar2, can::devicegroup_t::science},
   {motorid_t::scienceServoBoard, can::devicegroup_t::science},
   {motorid_t::scienceStepperBoard, can::devicegroup_t::science}});

constexpr auto motorPIDMap =
    frozen::make_unordered_map<motorid_t, pidcoef_t>({{motorid_t::shoulder, {70, 0, 0}}});

constexpr auto positive_pwm_scales =
    frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
                                                   {motorid_t::shoulder, -1},
                                                   {motorid_t::elbow, -1},
                                                   {motorid_t::forearm, -0.2},
                                                   {motorid_t::wristDiffLeft, -0.1},
                                                   {motorid_t::wristDiffRight, 0.1},
                                                   {motorid_t::leftTread, 0.7},
                                                   {motorid_t::rightTread, 0.7},
                                                   {motorid_t::hand, -0.75},
                                                   {motorid_t::drillActuator, -0.5},
                                                   {motorid_t::drillMotor, -1.0},
                                                   {motorid_t::fourbar1, 0.3},
                                                   {motorid_t::fourbar2, 0.3},
                           {motorid_t::scienceServoBoard, 0},
                           {motorid_t::scienceStepperBoard, 0}});
constexpr auto negative_pwm_scales =
    frozen::make_unordered_map<motorid_t, double>({{motorid_t::armBase, -0.25},
                                                   {motorid_t::shoulder, -1},
                                                   {motorid_t::elbow, -1},
                                                   {motorid_t::forearm, -0.2},
                                                   {motorid_t::wristDiffLeft, -0.1},
                                                   {motorid_t::wristDiffRight, 0.1},
                                                   {motorid_t::leftTread, 0.7},
                                                   {motorid_t::rightTread, 0.7},
                                                   {motorid_t::hand, -0.75},
                                                   {motorid_t::drillActuator, -0.5},
                                                   {motorid_t::drillMotor, -1.0},
                                                   {motorid_t::fourbar1, 0.15},
                                                   {motorid_t::fourbar2, 0.15},
                           {motorid_t::scienceServoBoard, 0},
                           {motorid_t::scienceStepperBoard, 0}});
 
} // namespace robot