//
// Created by SJQ on 2023/12/25.
//

#ifndef WHEEL_LEGGED_LEG_H
#define WHEEL_LEGGED_LEG_H
#include "controller.h"

typedef struct
{
    float L0;
    float phi0;

    float phi1;
    float phi4;

    float phi2;
    float phi3;
}Leg_State_t;

typedef struct
{
    float F;
    float Tp;
}Leg_Input_t;

typedef struct
{
    float T1;
    float T2;
}Leg_Output_t;

typedef struct
{
    Leg_State_t legState;
    Leg_Input_t legInput;
    Leg_Output_t legOutput;

    float target_L0;
    float target_phi0;
    PIDInstance Length_PID;
    PIDInstance Phi0_PID;

}LegInstance;

void Leg_State_update(Leg_State_t* leg_state, float phi1,float phi4);
void Leg_calc_output(Leg_State_t* leg_state,Leg_Input_t* leg_input,Leg_Output_t* leg_output);
void Leg_Input_update(Leg_Input_t* leg_Input, float F,float Tp);

void Leg_Init(LegInstance* legInstance,PID_Init_Config_s lengthConfig,PID_Init_Config_s phiConfig);
void Leg_length_control_loop(LegInstance* legInstance);


#endif //WHEEL_LEGGED_LEG_H