Source code for firmware.bionic_motors.utils

"""Example driver file on instantiating new motors and driving them."""

from dataclasses import dataclass

from firmware.bionic_motors.motors import ControlParams



[docs]
@dataclass
class ViolenceStrength:
    """A class to dictate the strength of the violence."""

    ARM_PARAMS: ControlParams
    ARM_PARAMS_HEAVY: ControlParams
    GRIPPERS_PARAMS: ControlParams
    LEG_PARAMS: ControlParams
    LEG_PARAMS_HEAVY: ControlParams

    # TODO: add more as needed


# Control parameters
NORMAL_STRENGTH = ViolenceStrength(
    ARM_PARAMS=ControlParams(kp=30, kd=2),
    ARM_PARAMS_HEAVY=ControlParams(kp=50, kd=2),
    GRIPPERS_PARAMS=ControlParams(kp=100, kd=2),
    LEG_PARAMS=ControlParams(kp=75, kd=3),  # NOT REAL VALUES
    LEG_PARAMS_HEAVY=ControlParams(kp=125, kd=3),
    # TODO: add more as needed
)

MATT_STOMPY_STRENGTH = ViolenceStrength(
    ARM_PARAMS=ControlParams(kp=200, kd=4),
    ARM_PARAMS_HEAVY=ControlParams(kp=12, kd=2),
    GRIPPERS_PARAMS=ControlParams(kp=50, kd=2),
    LEG_PARAMS=ControlParams(kp=200, kd=4),  # NOT REAL VALUES
    LEG_PARAMS_HEAVY=ControlParams(kp=200, kd=4),
    # TODO: Change Params
)