#ifndef __OTTO_MOVEMENTS_H__
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#define __OTTO_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 LEFT_LEG 0
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#define RIGHT_LEG 1
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#define LEFT_FOOT 2
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#define RIGHT_FOOT 3
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#define LEFT_HAND 4
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#define RIGHT_HAND 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 left_leg, int right_leg, int left_foot, int right_foot, int left_hand = -1,
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int right_hand = -1);
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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 left_leg, int right_leg, int left_foot, int right_foot, int left_hand = 0,
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int right_hand = 0);
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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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void Execute2(int amplitude[SERVO_COUNT], int center_angle[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float steps);
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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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//-- Predetermined Motion Functions
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void Jump(float steps = 1, int period = 2000);
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void Walk(float steps = 4, int period = 1000, int dir = FORWARD, int amount = 0);
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void Turn(float steps = 4, int period = 2000, int dir = LEFT, int amount = 0);
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void Bend(int steps = 1, int period = 1400, int dir = LEFT);
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void ShakeLeg(int steps = 1, int period = 2000, int dir = RIGHT);
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void Sit(); // 坐下
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void UpDown(float steps = 1, int period = 1000, int height = 20);
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void Swing(float steps = 1, int period = 1000, int height = 20);
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void TiptoeSwing(float steps = 1, int period = 900, int height = 20);
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void Jitter(float steps = 1, int period = 500, int height = 20);
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void AscendingTurn(float steps = 1, int period = 900, int height = 20);
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void Moonwalker(float steps = 1, int period = 900, int height = 20, int dir = LEFT);
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void Crusaito(float steps = 1, int period = 900, int height = 20, int dir = FORWARD);
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void Flapping(float steps = 1, int period = 1000, int height = 20, int dir = FORWARD);
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void WhirlwindLeg(float steps = 1, int period = 300, int amplitude = 30);
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// -- 手部动作
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void HandsUp(int period = 1000, int dir = 0); // 双手举起
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void HandsDown(int period = 1000, int dir = 0); // 双手放下
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void HandWave(int dir = LEFT); // 挥手
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void Windmill(float steps = 10, int period = 500, int amplitude = 90); // 大风车
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void Takeoff(float steps = 5, int period = 300, int amplitude = 40); // 起飞
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void Fitness(float steps = 5, int period = 1000, int amplitude = 25); // 健身
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void Greeting(int dir = LEFT, float steps = 5); // 打招呼
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void Shy(int dir = LEFT, float steps = 5); // 害羞
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void RadioCalisthenics(); // 广播体操
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void MagicCircle(); // 爱的魔力转圈圈
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void Showcase(); // 展示动作（串联多个动作）
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// -- Servo limiter
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void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
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void DisableServoLimit();
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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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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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bool has_hands_; // 是否有手部舵机
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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 // __OTTO_MOVEMENTS_H__
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