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#ifndef OFFENSE_ROBOT_H_
#define OFFENSE_ROBOT_H_

#include "OmniRobot.h"

#define BLDC_DELAY 10 // time to wait in milliseconds between actuating BLDC's

#define PIN_PWM_SHOOT_LEFT  6
#define PIN_PWM_SHOOT_RIGHT 5
#define PIN_PWM_PUSHER      7

#define PUSHER_INPUT_MIN   -50
#define PUSHER_OUTPUT_MIN 1450
#define PUSHER_OUTPUT_MAX 1700

#define SHOOT_INPUT_CAPTURE_THRESH  75
#define SHOOT_INPUT_OFF_THRESH       0
#define SHOOT_INPUT_SHOOT_THRESH   -75

#define SHOOT_OUTPUT_CAPTURE 1550
#define SHOOT_OUTPUT_OFF     1500
#define SHOOT_OUTPUT_SHOOT   1200

struct ShooterState {
  volatile int position;
  volatile int speed;
};

class OffenseRobot : public OmniRobot {
public:

  /* Constructor Functions */
  OffenseRobot(void);
  /* Public Functions */
  void runShooter(void);
  void displayShooterState(void);
  void updateLED(void);
protected:

  ShooterState   shooter_state;

  Motor shoot_left;
  Motor shoot_right;
  Motor pusher;

};

#endif /* OFFENSE_ROBOT_H_ */