firmware_pid_tune.hpp

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#pragma once
 
#include <map>
#include <string>
#include <vector>
 
#include "autotune/types.hpp"
#include "hal/IIMU.hpp"
#include "hal/IMotor.hpp"
 
namespace libstp::autotune
{
    class FirmwarePidTuner
    {
    public:
        explicit FirmwarePidTuner(const std::vector<hal::motor::IMotor*>& motors,
                                  hal::imu::IIMU*                         imu = nullptr);

        [[nodiscard]] FirmwarePidResult tuneMotor(
            hal::motor::IMotor*    motor,
            int                    max_bemf_speed,
            const FirmwarePidConfig& cfg) const;

        [[nodiscard]] std::map<int, FirmwarePidResult> tune(
            const std::map<int, int>& max_bemf_speeds,
            const FirmwarePidConfig&  cfg) const;
 
    private:
        [[nodiscard]] StepResponseData runStepResponse(
            hal::motor::IMotor* motor,
            int                 bemf_target,
            double              duration_s,
            int                 sample_hz,
            const std::string&  csv_path = "") const;

        [[nodiscard]] std::vector<StepResponseData> runParallelStepResponse(
            const std::vector<hal::motor::IMotor*>& motors,
            const std::vector<int>&                 bemf_targets,
            double                                  duration_s,
            int                                     sample_hz) const;
 
        std::vector<hal::motor::IMotor*> motors_;
        hal::imu::IIMU*                  imu_{nullptr};
    };
 
} // namespace libstp::autotune