RobotConfig.hpp

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#pragma once
 
#include <cstdint>
#include <string>
#include <vector>
 
namespace libstp::sim
{
    struct SensorMount
    {
        std::string name;
        float forwardCm{0.0f};
        float strafeCm{0.0f};
        uint8_t analogPort{0};
        float clearanceCm{0.0f};
    };

    struct RobotConfig
    {
        float widthCm{18.0f};
        float lengthCm{18.0f};

        float rotationCenterForwardCm{0.0f};
        float rotationCenterStrafeCm{0.0f};

        std::string driveType{"differential"};
        float wheelRadiusM{0.03f};
        float trackWidthM{0.15f};
        float wheelbaseM{0.15f};
 
        std::vector<SensorMount> lineSensors;
        std::vector<SensorMount> distanceSensors;
    };
}