#ifndef __MOVEMENTS_H__
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#define __MOVEMENTS_H__
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "oscillator.h"
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//-- Constants
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#define FORWARD 1
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#define BACKWARD -1
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#define LEFT 1
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#define RIGHT -1
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#define BOTH 0
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#define SMALL 5
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#define MEDIUM 15
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#define BIG 30
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// -- Servo delta limit default. degree / sec
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#define SERVO_LIMIT_DEFAULT 240
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// -- Servo indexes for easy access
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#define RIGHT_PITCH 0
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#define RIGHT_ROLL 1
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#define LEFT_PITCH 2
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#define LEFT_ROLL 3
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#define BODY 4
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#define HEAD 5
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#define SERVO_COUNT 6
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class Otto {
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public:
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Otto();
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~Otto();
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//-- Otto initialization
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void Init(int right_pitch, int right_roll, int left_pitch, int left_roll, int body, int head);
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//-- Attach & detach functions
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void AttachServos();
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void DetachServos();
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//-- Oscillator Trims
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void SetTrims(int right_pitch, int right_roll, int left_pitch, int left_roll, int body,
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int head);
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//-- Predetermined Motion Functions
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void MoveServos(int time, int servo_target[]);
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void MoveSingle(int position, int servo_number);
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void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float cycle);
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//-- HOME = Otto at rest position
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void Home(bool hands_down = true);
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bool GetRestState();
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void SetRestState(bool state);
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// -- 手部动作
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void HandAction(int action, int times = 1, int amount = 30, int period = 1000);
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// action: 1=举左手, 2=举右手, 3=举双手, 4=放左手, 5=放右手, 6=放双手, 7=挥左手, 8=挥右手,
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// 9=挥双手, 10=拍打左手, 11=拍打右手, 12=拍打双手
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//-- 身体动作
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void BodyAction(int action, int times = 1, int amount = 30, int period = 1000);
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// action: 1=左转, 2=右转
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//-- 头部动作
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void HeadAction(int action, int times = 1, int amount = 10, int period = 500);
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// action: 1=抬头, 2=低头, 3=点头, 4=回中心, 5=连续点头
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private:
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Oscillator servo_[SERVO_COUNT];
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int servo_pins_[SERVO_COUNT];
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int servo_trim_[SERVO_COUNT];
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int servo_initial_[SERVO_COUNT] = {180, 180, 0, 0, 90, 90};
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unsigned long final_time_;
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unsigned long partial_time_;
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float increment_[SERVO_COUNT];
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bool is_otto_resting_;
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void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float steps);
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};
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#endif // __MOVEMENTS_H__
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