#ifndef __ROBOTSELECTINIT_H
#define __ROBOTSELECTINIT_H
#include "sys.h"
#include "system.h"

//Parameter structure of robot
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typedef struct  
{
  float WheelSpacing;      //Wheelspacing, Mec_Car is half wheelspacing //�־� ���ֳ�Ϊ���־�
  float AxleSpacing;       //Axlespacing, Mec_Car is half axlespacing //��� ���ֳ�Ϊ�����	
  int GearRatio;           //Motor_gear_ratio //������ٱ�
  int EncoderAccuracy;     //Number_of_encoder_lines //����������(����������)
  float WheelDiameter;     //Diameter of driving wheel //������ֱ��	
  float OmniTurnRadiaus;   //Rotation radius of omnidirectional trolley //ȫ����С����ת�뾶	
}Robot_Parament_InitTypeDef;

// Encoder structure
//�������ṹ��
typedef struct  
{
  int A;      
  int B; 
	int C; 
	int D; 
}Encoder;

//The minimum turning radius of Ackermann models is determined by the mechanical structure: 
//the maximum Angle of the wheelbase, wheelbase and front wheels
//���������͵���Сת��뾶���ɻ�е�ṹ�������־ࡢ��ࡢǰ�����ת��
#define MINI_AKM_MIN_TURN_RADIUS 0.350f 

//Wheelspacing, Mec_Car is half wheelspacing
//�־� ������һ��
//#define MEC_wheelspacing         0.109
#define MEC_wheelspacing         0.0930 //����2021.03.30
#define Akm_wheelspacing         0.160f
#define Diff_wheelSpacing        0.177f
#define Four_Mortor_wheelSpacing 0.26f
#define Tank_wheelSpacing        0.235f

//Axlespacing, Mec_Car is half axlespacing
//��� ������һ��
#define MEC_axlespacing           0.085
#define Akm_axlespacing           0.160f
// Set to 1 to drive the Ackermann servo directly from TIM8 channel 1 (bench debug).
// Set to 0 to use the calibrated curvature->servo model in balance.c.
#define AKM_SERVO_DEBUG_REMOTE_CH1 0

// Ackermann control law selector (mutually exclusive with the debug switch above):
//   0 = calibrated kinematic model: kappa = wz/Vx -> quadratic servo fit,
//       rear wheels get Ackermann differential. Physically correct.
//   1 = direct passthrough (tuning/debug): Vz is linearly mapped across the
//       full servo travel, Vx is sent to both drive wheels unchanged (no
//       differential, no curvature math). Handy for isolating servo/motor.
#define AKM_DIRECT_MAP 0
// Direct-map input span: |Vz| >= AKM_DIRECT_VZ_FULL maps to the servo end stop.
// Vz > 0 = left (ROS), which maps toward AKM_SERVO_MIN (left end).
// TUNING KNOB (Mode 1 & Mode 2 share it): set this to the MAX angular.z [rad/s]
// your commander actually sends, so a full stick/command uses the full servo
// travel. Too high -> steering stays small; too low -> servo saturates (always
// full lock) and loses proportional control. Vz arrives in rad/s (usartx.c
// XYZ_Target_Speed_transition: raw/1000).
#define AKM_DIRECT_VZ_FULL 1.0f

// Ackermann yaw-rate closed-loop assist (Mode 2), mutually exclusive with
// AKM_DIRECT_MAP (direct-map wins if both are 1). "Front wheel does the main
// steering, rear wheels add a yaw-rate differential" -- a simplified torque-
// vectoring / yaw-rate closed loop:
//   path -> (Vx, kappa_cmd) -> servo main steering (calibrated fit)
//                            + IMU yaw-rate PI differential on the rear wheels.
// Degenerates EXACTLY to the Mode-0 Ackermann differential when
// AKM_YAW_FF_ALPHA = 1 and AKM_YAW_KP = AKM_YAW_KI = 0.
#define AKM_YAW_ASSIST 1
// PI gains on the yaw-rate error e_r = r_ref - r_imu [rad/s], output in m/s.
#define AKM_YAW_KP             0.10f
#define AKM_YAW_KI             0.00f
// Feedforward blend: 0 = pure IMU feedback, 1 = full geometric differential.
#define AKM_YAW_FF_ALPHA       0.00f
// Below this |Vx| the yaw loop is frozen (integrator reset, no differential).
#define AKM_YAW_MIN_SPEED      0.10f
// |dv| clamp as a fraction of |Vx|, so the differential cannot stall a wheel.
#define AKM_YAW_MAX_DIFF_RATIO 0.35f
// gyro[2] LSB -> rad/s at FS +-500 dps (see MPU6050.c: FS_500 -> /3754.9).
#define AKM_GYRO_Z_TO_RADPS    3754.9f
// Light first-order low-pass on the measured yaw rate (0 = none, 1 = no filter
// lag). r_f += beta*(r_meas - r_f). ~0.3 gives gentle smoothing at 200 Hz.
#define AKM_YAW_IMU_LPF        0.30f
// Flip to -1.0f if the IMU +z spins opposite to the ROS convention (+ = left).
// MUST be verified on hardware: command a left turn and confirm gyro[2] > 0.
#define AKM_GYRO_Z_SIGN        (+1.0f)
#define Diff_axlespacing          0.155f
#define Four_Mortor__axlespacing  0.28f
#define Tank_axlespacing          0.222f

//Motor_gear_ratio
//������ٱ�
#define   HALL_30F    30
#define   HALL_60F    60
#define   MD36N_5_18  5.18
#define   MD36N_27    27
#define   MD36N_51    51
#define   MD36N_71    71
#define   MD60N_18    18
#define   MD60N_47    47

//Number_of_encoder_lines
//����������
#define		Photoelectric_500 500
#define	  Hall_13           13

//Mecanum wheel tire diameter series
//������ֱ̥��
#define		Mecanum_60  0.060f
#define		Mecanum_75  0.075f
#define		Mecanum_100 0.100f
#define		Mecanum_127 0.127f
#define		Mecanum_152 0.152f
 
//Omni wheel tire diameter series
//�־�ȫ����ֱ��ϵ��
#define	  FullDirecion_60  0.060
#define	  FullDirecion_75  0.075
#define	  FullDirecion_127 0.127
#define	  FullDirecion_152 0.152
#define	  FullDirecion_203 0.203
#define	  FullDirecion_217 0.217

//Black tire, tank_car wheel diameter
//��ɫ��̥���Ĵ�����ֱ��
#define	  Black_WheelDiameter   0.065
//#define	  Tank_WheelDiameter 0.047
#define	  Tank_WheelDiameter 0.043

//Rotation radius of omnidirectional trolley
//ȫ����С����ת�뾶
#define   Omni_Turn_Radiaus_109 0.109
#define   Omni_Turn_Radiaus_164 0.164
#define   Omni_Turn_Radiaus_180 0.180
#define   Omni_Turn_Radiaus_290 0.290

//The encoder octave depends on the encoder initialization Settings
//��������Ƶ����ȡ���ڱ�������ʼ������
#define   EncoderMultiples  4
//Wheel-speed control and encoder reading frequency
//���ٿ������������ȡƵ��
#define   CONTROL_FREQUENCY 200

//#define PI 3.1415f  //PI //Բ����

void Robot_Select(void);
void Robot_Init(double wheelspacing, float axlespacing, float omni_turn_radiaus, float gearratio,float Accuracy,float tyre_diameter);

#endif