/**
 * @file config.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Some defines to configure the project.
 * @version 0.1
 * @date 2022-02-15
 *
 * @copyright Copyright (c) 2022
 *
 */

#pragma once

/**
 * @brief The numbers of pins to be used
 *
 */
namespace PinNumbers
{
    constexpr uint8_t spiCopi = 16;
    constexpr uint8_t spiCipo = 4;
    constexpr uint8_t spiSck = 5;
    constexpr uint8_t gnssSpiCs = 17;
    constexpr uint8_t sda = 21;
    constexpr uint8_t scl = 19;
    constexpr uint8_t battery = 35;

    namespace LeftMotor
    {
        constexpr uint8_t dir1 = 27;
        constexpr uint8_t dir2 = 12;
        constexpr uint8_t pwm = 13;
        constexpr uint8_t encoder = 32;
        constexpr uint8_t pmwChannel = 0;
    }

    namespace RightMotor
    {
        constexpr uint8_t dir1 = 14;
        constexpr uint8_t dir2 = 23;
        constexpr uint8_t pwm = 22;
        constexpr uint8_t encoder = 33;
        constexpr uint8_t pmwChannel = 1;
    }
}

/**
 * @brief Default values for different components
 *
 */
namespace Settings
{
    constexpr uint32_t baudRate = 115200;
    constexpr uint32_t i2cSpeed = 400000;

    constexpr float wheelDiameter = 0.105;
    constexpr float wheelDistance = 0.255;
    constexpr uint16_t encoderSteps = 384;

    namespace Pid
    {
        namespace Left
        {
            constexpr uint8_t P = 5;
            constexpr uint8_t I = 0;
            constexpr uint8_t D = 0;
        }

        namespace Right
        {
            constexpr uint8_t P = 5;
            constexpr uint8_t I = 0;
            constexpr uint8_t D = 0;
        }

        constexpr int8_t outMin = -100;
        constexpr int8_t outMax = 100;
        constexpr uint8_t sampleTime = 30;
    }
}