using ClumsyCore;
using ClumsyCore.Pilot;
using MDCSToolBox.Clumsy.MotionControllers;
using MDCSToolBox.Clumsy.Movements;
using MDCSToolBox.Clumsy.Pilot;

namespace MultiWheelC;

public class ChassisController : MovementDefinition<MultiWheelGeometricController>
{
    public float BaseSpeed = Configuration.conf.basicSpeed;

    // 创建单车几何跟踪控制器（直接控本车底盘，不走多车 Auto 通道）
    public override MultiWheelGeometricController Get()
    {
        return new MultiWheelGeometricController
        {
            Chassis = BasicPilotBase.Chassis,
            BaseSpeed = BaseSpeed,
            SlowDistance = PilotDefinition.Conf.SlowDistance,
            SlowingPow = PilotDefinition.Conf.SlowingPow,
            FinishDistance = PilotDefinition.Conf.FinishDistance,
            FinishSpeed = PilotDefinition.Conf.FinishSpeed,
            FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
            FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
            FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
            NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
            DebugMode = PilotDefinition.Conf.MotionDebugPrint,
            DebugCurvature = PilotDefinition.Conf.DebugCurvature,
            PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
            SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
            SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
            SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
            SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
            SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
            MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
            MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
            GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
            DthLinearFac = PilotDefinition.Conf.DthLinearFac,
            DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
            BiasFac = PilotDefinition.Conf.BiasFac,
            BiasThreshold = PilotDefinition.Conf.BiasThreshold,
        };
    }
}