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

//Parameter structure of robot
//机器人参数结构体
typedef struct  
{
  float WheelSpacing;      //Wheelspacing, Mec_Car is half wheelspacing //轮距 麦轮车为半轮距
  float AxleSpacing;       //Axlespacing, Mec_Car is half axlespacing //轴距 麦轮车为半轴距	
  int GearRatio;           //Motor_gear_ratio //电机减速比
  int EncoderAccuracy;     //Number_of_encoder_lines //编码器精度(编码器线数)
  float WheelDiameter;     //Diameter of driving wheel //主动轮直径	
  float OmniTurnRadiaus;   //Rotation radius of omnidirectional trolley //全向轮小车旋转半径	
}Robot_Parament_InitTypeDef;

// Encoder structure
//编码器结构体
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
//阿克曼车型的最小转弯半径，由机械结构决定：轮距、轴距、前轮最大转角
#define MINI_AKM_MIN_TURN_RADIUS 0.350f 

//Wheelspacing, Mec_Car is half wheelspacing
//轮距 麦轮是一半
//#define MEC_wheelspacing         0.109
#define MEC_wheelspacing         0.0930 //修正2021.03.30
#define Akm_wheelspacing         0.162f
#define Diff_wheelSpacing        0.177f
#define Four_Mortor_wheelSpacing 0.26f
#define Tank_wheelSpacing        0.235f

//Axlespacing, Mec_Car is half axlespacing
//轴距 麦轮是一半
#define MEC_axlespacing           0.085
#define Akm_axlespacing           0.158f
#define Diff_axlespacing          0.155f
#define Four_Mortor__axlespacing  0.28f
#define Tank_axlespacing          0.222f

//Motor_gear_ratio
//电机减速比
#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
//编码器精度
#define		Photoelectric_500 500
#define	  Hall_13           13

//Mecanum wheel tire diameter series
//麦轮轮胎直径
#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
//轮径全向轮直径系列
#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
//黑色轮胎、履带车轮直径
#define	  Black_WheelDiameter   0.065
//#define	  Tank_WheelDiameter 0.047
#define	  Tank_WheelDiameter 0.043

//Rotation radius of omnidirectional trolley
//全向轮小车旋转半径
#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
//编码器倍频数，取决于编码器初始化设置
#define   EncoderMultiples  4
//Encoder data reading frequency
//编码器数据读取频率
#define   CONTROL_FREQUENCY 100

//#define PI 3.1415f  //PI //圆周率

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

#endif