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#ifndef OMNI_ROBOT_H_
#define OMNI_ROBOT_H_

#include "LED.h"             // LED status class
#include "Motor.h"           // Motor class
#include "RCController6CH.h" // 6 channel RC controller class
// #include "Sensor.h"          // Sensor class

#define PIN_PWM_LEFT        2
#define PIN_PWM_RIGHT       3
#define PIN_PWM_TAIL        4

#define PIN_A_TAIL  33
#define PIN_B_TAIL  34
#define PIN_A_RIGHT 35
#define PIN_B_RIGHT 36
#define PIN_A_LEFT  37
#define PIN_B_LEFT  38

#define PIN_CH_1 27

#define PIN_LEFT_RED     9
#define PIN_LEFT_GREEN   8
#define PIN_LEFT_BLUE   10
#define PIN_RIGHT_RED   22
#define PIN_RIGHT_GREEN 23
#define PIN_RIGHT_BLUE  21

#define SPEED_MIN   0
#define SPEED_MAX 100
#define DEAD_ZONE  10
#define SPIN_GAIN   0.3

void updateController(void);

struct OmniRobotState {
  volatile int body_spin;
  volatile double body_speed;
  volatile double body_direction;

  volatile int wheel_speed_left;
  volatile int wheel_speed_right;
  volatile int wheel_speed_tail;
};

class OmniRobot {
public:

  bool ready = false;

  /* Constructor Functions */
  OmniRobot(void);
  /* Public Functions */
  void runRobotModel(void);
  void displayRobotState(void);
  void displayRCChannels(void);
  void updateRCChannels(void);
  void updateLED(void);
protected:

  OmniRobotState state;

  RCController6CH rc_controller;

  LED led;

  Motor drive_left;
  Motor drive_right;
  Motor drive_tail;

  // Sensor compass();
  // Sensor current(); // current being used by the whole robot
  // Sensor ir_ball(); // sensor used to tell if a ball has been captured
  // Sensor ir_capture(); // sensor used to tell if a ball is infront of the robot or not

private:

  static void _applyDeadZone(int*, int*, int*);
};

#endif /* OMNI_ROBOT_H_ */