#ifndef CONSTANTS_H
#define CONSTANTS_H

/**
 * @brief all constants and custom data types
 * 
 */

//#define DCAITI_DEBUG			0

/* 1 is on the right, 2 on the left */

/* motors */
#define NUM_MOTORS				2
#define M1_EN_PIN				10
#define M1_DIR_PIN				11
#define M2_EN_PIN				9
#define M2_DIR_PIN				8
#define SPEED_THRESHOLD			8

/* encoders */
#define ENC_1_A					6
#define ENC_1_B					7
#define ENC_2_A					5
#define ENC_2_B					4
#define COUNT_PER_ROTATION		3533
#define CHAIN_LENGTH_M			0.741
#define VEL_UPDATE_RATE_MS		20
#define MAX_SPEED				0.6

/* pid control */
#define KP_1					10
#define KD_1					0.0
#define KI_1					0.0
#define KP_2					10
#define KD_2					0.0
#define KI_2					0.0
#define VEL2TORQUE_RATIO		1.0
#define P_GAIN					1.0

/* misc */
#define PRINT_RATE_MS			500

/* uart */
#define UART_BAUD_RATE			115200
#define MAX_PACKET_LENGTH		50
#define PACKAGE_LENGTH_NO_P		10
#define RX_328_PIN				6
#define TX_328_PIN				7
#define UART_TRANSMIT_MS		10
#define PACKAGE_PAUSE_MS		10

#define START_BYTE_POS			0
#define FRAME_TYPE_POS			1
#define PAYLOAD_LENGTH_POS		2
#define COMPONENT_POS			3
#define TIMESTAMP_POS			4
#define COMMAND_POS				8
#define PAYLOAD_POS				8

#define FRAME_TYPE_STARTBIT		7
#define FRAME_TYPE_ENDBIT		5

#define COMPONENT_STARTBIT		7
#define COMPONENT_ENDBIT		4

#define START_BYTE				0xAA

#define REQUEST_DRIVE_MOTOR		0x01
#define REQUEST_RESET_TIMESTAMP	0x02

#define FT_VALUE_BV				0
#define FT_REQUEST_BV			32
#define FT_RESPONSE_BV			64
#define CP_DEFAULT_BV			0
#define CP_LEFT_M_BV			16
#define CP_RIGHT_M_BV			32
#define CP_ALL_M_BV				48

#define LAST(k,n)				((k) & ((1<<(n))-1))
#define MID(k,m,n)				LAST((k)>>(m),((n)-(m)))

typedef enum frametypes {
	VALUE, REQUEST, RESPONSE
} U_FrameType;

typedef enum components {
	DEFAULT_COMPONENT, LEFT_MOTOR, RIGHT_MOTOR, ALL_MOTORS
} U_Component;

typedef enum requests {
	DEFAULT_REQUEST, DRIVE_MOTOR, RESET_TIMESTAMP, DRIVE_ENCODER, PID_PARAMETER
} U_Request;

#endif