robot_specs.h

#pragma once
#include "core/utils/controls/feedback_base.h"
#include "core/utils/controls/pid.h"

typedef struct {
  double
      robot_radius; 
 
  double odom_wheel_diam;     
  double odom_gear_ratio;     
  double dist_between_wheels; 
 
  double drive_correction_cutoff; 
 
  Feedback *drive_feedback;         
  Feedback *turn_feedback;          
  PID::pid_config_t correction_pid; 
 
} robot_specs_t;