ModuleConfig.h

#pragma once
 
#include <units/length.h>
#include <units/angular_velocity.h>
#include <units/velocity.h>
#include <units/torque.h>
#include <units/current.h>
#include <frc/system/plant/DCMotor.h>
 
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
 
namespace pathplanner {
class ModuleConfig {
public:
    units::meter_t wheelRadius;
    units::meters_per_second_t maxDriveVelocityMPS;
    double wheelCOF;
    frc::DCMotor driveMotor;
    units::ampere_t driveCurrentLimit;
 
    units::radians_per_second_t maxDriveVelocityRadPerSec;
 
    units::newton_meter_t torqueLoss;
 
    ModuleConfig() : driveMotor(frc::DCMotor::CIM()) {
    }
 
    ModuleConfig(units::meter_t wheelRadius,
            units::meters_per_second_t maxDriveVelocityMPS, double wheelCOF,
            frc::DCMotor driveMotor, units::ampere_t driveCurrentLimit,
            int numMotors) : wheelRadius(wheelRadius), maxDriveVelocityMPS(
            maxDriveVelocityMPS), wheelCOF(wheelCOF), driveMotor(driveMotor), driveCurrentLimit(
            driveCurrentLimit * numMotors), maxDriveVelocityRadPerSec {
            maxDriveVelocityMPS() / wheelRadius() }, torqueLoss(
            units::math::max(
                    driveMotor.Torque(
                            units::math::min(
                                    driveMotor.Current(
                                            maxDriveVelocityRadPerSec, 12_V),
                                    driveCurrentLimit)), 0_Nm)) {
    }
 
    ModuleConfig(units::meter_t wheelRadius,
            units::meters_per_second_t maxDriveVelocityMPS, double wheelCOF,
            frc::DCMotor driveMotor, double driveGearing,
            units::ampere_t driveCurrentLimit, int numMotors) : ModuleConfig(
            wheelRadius, maxDriveVelocityMPS, wheelCOF,
            driveMotor.WithReduction(driveGearing), driveCurrentLimit,
            numMotors) {
    }
};
}