gimbal.h

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#pragma once
#include "core/async.hpp"
#include "device/motor/base.hpp"
#include "device/motor/dji.h"
#include "utils/pid.h"
#include "utils/singleton.hpp"
#include "utils/utils.hpp"
 
namespace roboctrl::ctrl{
class gimbal : public utils::singleton_base<gimbal>,public logable<gimbal>{
public:
    inline std::string desc()const{return "gimbal";}
    inline fp32 yaw()const{return yaw_;}
    inline void set_yaw(fp32 yaw){yaw_ = yaw;}
 
    struct info_type{
        using owner_type = gimbal;
 
        utils::rad_pid_motor<device::dji_motor>::params_type yaw_motor_params;
        utils::rad_pid_motor<device::dji_motor>::params_type init_yaw_motor_params;
        utils::rad_pid_motor<device::dji_motor>::params_type pitch_motor_params;
    };
 
    bool init(const info_type& info);
 
    awaitable<void> task();
 
private:
    fp32 yaw_ = 0;
 
    utils::rad_pid_motor<device::dji_motor> yaw_motor_;
    utils::rad_pid_motor<device::dji_motor> init_yaw_motor_; // 用于开机把云台转到初始位置
    utils::rad_pid_motor<device::dji_motor> pitch_motor_;
};
 
static_assert(utils::singleton<gimbal>);
}