68 lines
1.6 KiB
C++
68 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include <string>
|
|
#include <string_view>
|
|
|
|
namespace custom {
|
|
|
|
/**
|
|
* @brief Robot motion gait types
|
|
*/
|
|
enum class Gait : int {
|
|
IDLE = 0, // Standing still
|
|
TROT = 1, // Normal walking
|
|
TROT_RUNNING = 2 // Fast running
|
|
};
|
|
|
|
|
|
// Network settings
|
|
constexpr std::string_view NETWORK_INTERFACE = "eth0";
|
|
|
|
// MQTT settings
|
|
constexpr std::string_view MQTT_BROKER = "192.168.11.24";
|
|
constexpr int MQTT_PORT = 1883;
|
|
constexpr std::string_view MQTT_CLIENT_ID = "unitree_go2_client";
|
|
constexpr std::string_view MQTT_USERNAME = "lzwc";
|
|
constexpr std::string_view MQTT_PASSWORD = "Lzwc@4187.";
|
|
|
|
// MQTT Topics
|
|
constexpr const char* TOPIC_PREFIX = "unitree/go2";
|
|
constexpr const char* TOPIC_CMD = "cmd";
|
|
|
|
// Safety settings
|
|
constexpr double MAX_LINEAR_VELOCITY = 1.5; // m/s
|
|
constexpr double MAX_ANGULAR_VELOCITY = 2.0; // rad/s
|
|
constexpr double EMERGENCY_STOP_TIMEOUT = 5.0; // seconds
|
|
|
|
// Motion settings
|
|
constexpr double STAND_HEIGHT = 0.0; // relative height
|
|
constexpr Gait DEFAULT_GAIT = Gait::IDLE;
|
|
|
|
|
|
class CustomConfig {
|
|
public:
|
|
std::string network_interface;
|
|
std::string mqtt_broker;
|
|
int mqtt_port;
|
|
std::string mqtt_username;
|
|
std::string mqtt_password;
|
|
std::string mqtt_client_id;
|
|
|
|
std::string topic_prefix;
|
|
std::string topic_cmd;
|
|
std::string topic_state;
|
|
|
|
double control_frequency;
|
|
double max_linear_velocity;
|
|
double max_angular_velocity;
|
|
double emergency_stop_timeout;
|
|
double stand_height;
|
|
int default_gait;
|
|
|
|
void loadDefaults();
|
|
|
|
};
|
|
|
|
|
|
} // namespace custom
|