/*
 * RobotFunctions.h
 *
 *  Created on: Aug 24, 2024
 *      Author: DashyFox
 */

#ifndef INC_ROBOTFUNCTIONS_H_
#define INC_ROBOTFUNCTIONS_H_

#include "pca9685.h"
#include "EEPROM.h"

// 0 - setPos AFTER preRun delay
// 1 - setPos IMMEDIATELY
#define PRE_RUN_DELAY_MODE 0
#define NOBALL_TIMEOUT_MULTIPLIER 4.2


typedef enum ServoMap{
	SERVO_AXIAL = 0,
	SERVO_HORIZONTAL = 1,
	SERVO_VERTICAL = 2
}ServoMap;

typedef enum CurrentMode {
	NoneMode, ShotMode, ProgramMode, MacroMode,
} Mode;

typedef enum State{
	STOP,
	RUN,
	PAUSE,
	PRERUN_WAIT
}State;

typedef struct CurrentShot {
	uint8_t index;
	uint16_t currentRepeatCount;
	Shot shot;
} CurrentShot;

typedef struct CurrentProgram {
	uint8_t index;
	Program program;
	uint8_t shot_index;
} CurrentProgram;

typedef struct CurrentMacro {
	uint8_t index;
	Macro macro;
	uint8_t program_index;
} CurrentMacro;

//typedef struct CurrentState {
//	uint8_t isPause;
//	uint8_t isShooting;
//} CurrentState;

typedef struct CurrentInfo {
	Mode mode;
	State state;
	CurrentShot shot;
	CurrentProgram program;
	CurrentMacro macro;
	uint32_t startDelay;
} CurrentInfo;

void Robot_INIT();

void shotApply(Shot*);
void doShotForever(uint8_t number);

void BallEXT();
void RobotTick();

uint8_t prepareShot(uint8_t number);
//uint8_t prepareProgramm(uint8_t number);
//uint8_t prepareMacro(uint8_t number);


void startShooting(uint32_t delayTime);
void stopShooting();

long map(long x, long in_min, long in_max, long out_min, long out_max);

void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical);
void setPosSingle(ServoMap servo, uint8_t value);
void setPosFromShot(Shot* shot);
void setPosDefault();
void setPosDefaultSingle(ServoMap servo);

// 0 .. 100
void setScrewkSpeed(uint8_t speed);

//(-v) 0 .. 100(stop) .. 200(+v)
void setRollersSpeed(uint8_t up, uint8_t down); //(-v) 0 . 100(stop) . 200(+v)

#endif /* INC_ROBOTFUNCTIONS_H_ */