/*
 * robot_cv_config.c
 *
 *  Created on: 2026年6月10日
 *      Author: lapto
 */

#include "robot_cv_config.h"

// 全局常量配置表，存放在 Flash/ROM 中，掉电不丢失
const CV_struct_define g_robotCvTable[MAX_ROBOT_COUNT] = {
//    [0] = { /* 机器人 L2.2-05 (ID=0) 的全套参数 */
//        .MAXSpeed_m_per_min = 20,
//        .LeftTurnSpeed = 40,
//        .RightTurnSpeed = 40,
//        .RobotLeftAngleValue = -9000,
//        .RobotRightAngleValue = 9000,
//        .RobotUpAngleValue = 0,
//        .RobotDownAngleValue = 0,
//        .DMK0_Speed = 0,
//        .Lane_Change_Speed_m_per_min = 4,
//        .IsAutomationAuthorized = 1,
//        .IsFunctionAuthorized = 1,
//        .Joy_Sticker_Angle_Allowance = 45,
//        .Joy_Sticker_Value_Allowance = 600,
//        .Allowable_Error_For_Angle_Tracking = 100,
//        .Horizontal_ChangeLane_Compensation = -5,
//        .Vertical_ChangeLane_Compensation = -1,
//        .wheel_Reduction_Ratio = 101,
//        .wheel_Diameter_m = 0.28,
//        .has_PID_high = true,
//        .PID_high = { .PID_Angle=2500, .Kp = 0.7, .Ki = 0, .Kd = 0.5 }, // PID结构体成员名
//        .has_PID_mid = true,
//        .PID_mid = { .PID_Angle=500, .Kp = 0.3, .Ki = 0, .Kd = 0.1 },
//        .has_PID_low = true,
//        .PID_low = { .PID_Angle=100, .Kp = 0.01, .Ki = 0, .Kd = 0.05 }
//    },

//    [1] = { /* 机器人 L01-24 (ID=1) 的全套参数 */
//        .MAXSpeed_m_per_min = 20,
//        .LeftTurnSpeed = 40,
//        .RightTurnSpeed = 40,
//        .RobotLeftAngleValue = -9000,
//        .RobotRightAngleValue = 9000,
//        .RobotUpAngleValue = 0,
//        .RobotDownAngleValue = 0,
//        .DMK0_Speed = 0,
//        .Lane_Change_Speed_m_per_min = 4,
//        .IsAutomationAuthorized = 1,
//        .IsFunctionAuthorized = 1,
//        .Joy_Sticker_Angle_Allowance = 45,
//        .Joy_Sticker_Value_Allowance = 600,
//        .Allowable_Error_For_Angle_Tracking = 100,
//        .Horizontal_ChangeLane_Compensation = -5,
//        .Vertical_ChangeLane_Compensation = -1,
//        .wheel_Reduction_Ratio = 101,
//        .wheel_Diameter_m = 0.28,
//        .has_PID_high = true,
//        .PID_high = { .PID_Angle=2500, .Kp = 0.7, .Ki = 0, .Kd = 0.5 }, // PID结构体成员名
//        .has_PID_mid = true,
//        .PID_mid = { .PID_Angle=800, .Kp = 0.3, .Ki = 0, .Kd = 0.2 },
//        .has_PID_low = true,
//        .PID_low = { .PID_Angle=100, .Kp = 0.08, .Ki = 0, .Kd = 0.05 }
//    },

    [2] = { /* 机器人 BGR L01 (ID=2) 的全套参数 */
    		        .MAXSpeed_m_per_min = 20,
    		        .LeftTurnSpeed = 40,
    		        .RightTurnSpeed = 40,
    		        .RobotLeftAngleValue = -9000,
    		        .RobotRightAngleValue = 9000,
    		        .RobotUpAngleValue = 0,
    		        .RobotDownAngleValue = 0,
    		        .DMK0_Speed = 0,
    		        .Lane_Change_Speed_m_per_min = 4,
    		        .IsAutomationAuthorized = 1,
    		        .IsFunctionAuthorized = 1,
    		        .Joy_Sticker_Angle_Allowance = 45,
    		        .Joy_Sticker_Value_Allowance = 600,
    		        .Allowable_Error_For_Angle_Tracking = 100,
    		        .Horizontal_ChangeLane_Compensation = -5,
    		        .Vertical_ChangeLane_Compensation = -1,
    		        .wheel_Reduction_Ratio = 101,
    		        .wheel_Diameter_m = 0.28,
    		        .has_PID_high = true,
    		        .PID_high = { .PID_Angle=2500, .Kp = 0.7, .Ki = 0, .Kd = 0.5 }, // PID结构体成员名
    		        .has_PID_mid = true,
    		        .PID_mid = { .PID_Angle=800, .Kp = 0.3, .Ki = 0, .Kd = 0.1 },
    		        .has_PID_low = true,
    		        .PID_low = { .PID_Angle=100, .Kp = 0.08, .Ki = 0, .Kd = 0.05 }
        },




    // 后续机器人直接按 [2], [3] ... 往下加即可
    // 未明确赋值的项会被编译器自动初始化为 0/false
};

/**
 * @brief 根据机器人ID获取预设的CV参数指针
 * @param robotId 机器人编号 (0 ~ MAX_ROBOT_COUNT-1)
 * @return 成功返回参数指针，越界返回 NULL
 */
const CV_struct_define* Robot_GetCvConfig(uint8_t robotId) {
    if (robotId >= MAX_ROBOT_COUNT) {
        return NULL;
    }
    return &g_robotCvTable[robotId];
}