copperconfig.ron

(
    tasks: [
        (
            id: "balpos",
            type: "cu_ads7883_new::ADS7883",

        ),

        (
            id: "railpos",
            type: "cu_rp_encoder::Encoder",
            config: {
                "clk_pin": 26,
                "dat_pin": 20,
            },
        ),

        (
            id: "balpos_pid",
            type: "tasks::BalPID",
            config: {
                "kp": 0.015, // 0.02 1 / 168 ticks = .00593
                "kd": 0.01,
                "ki": 0.0,
                "setpoint": 3072.0, // the perfect sim
                "cutoff": 170.0, // cut off if the measured value is outside of +/- 170 ticks around the setpoint
            },
        ),

        (
            id: "railpos_pid",
            type: "tasks::PosPID",
            config: {
                "kp": 0.0005, // 0.02 1 / 168 ticks = .00593
                "kd": 0.5,
                "ki": 0.0,
                "setpoint": 0.0,
                "cutoff": 1000.0, // cut off if the it is about to hit the side of the rail
                "sampling_ms": 100,
            },
        ),

        (
            id: "merge_pids",
            type: "tasks::PIDMerger",
        ),

        (
            id: "motor",
            type: "cu_rp_sn754410_new::SN754410",
            config: {
                 "deadzone": 0.3, // this is the minimum value for the motor to move.
                 "dryrun": false,
            },
        ),
     ],
    cnx: [
        (src: "balpos",  dst: "balpos_pid",   msg: "cu_ads7883_new::ADSReadingPayload"),
        (src: "railpos",  dst: "railpos_pid",   msg: "cu_rp_encoder::EncoderPayload"),
        (src: "balpos_pid", dst: "merge_pids", msg:"cu_pid::PIDControlOutputPayload"),
        (src: "railpos_pid", dst: "merge_pids", msg:"cu_pid::PIDControlOutputPayload"),
        (src: "merge_pids", dst: "motor", msg:"cu_rp_sn754410_new::MotorPayload"),
    ],
    monitor: (
         type: "cu_consolemon::CuConsoleMon",
    )
)