#pragma once

/// <summary>
/// Connects to a PixelHub server, receives commands, and acts upon them.
/// </summmary>
class PixelBotController
{
public:
	PixelBotController();
	~PixelBotController();
	
	static const int STOP = 0;
	static const int FORWARDS = 1;
	static const int BACKWARDS = 2;
	static const int LEFT = 3;
	static const int RIGHT = 4;

	void MoveDistance(int direction, int ticks);
	void MoveTick(int direction);

	unsigned long GetTicksTravelled();
	
private:
	const int rmotorPin1 = 16;
	const int rmotorPin2 = 5;
	const int rmotorPin3 = 4;
	const int rmotorPin4 = 0;
	
	const int lmotorPin1 = 2;
	const int lmotorPin2 = 14;
	const int lmotorPin3 = 12;
	const int lmotorPin4 = 13;
	
	int motorLookup[8] = { 0b01000, 0b01100, 0b00100, 0b00110, 0b00010, 0b00011, 0b00001, 0b01001 };
	
	int motorSpeed = 1200;						// The speed at which the stepper motor accepts bits
	unsigned long ticksTravelled = 0; // Number of steps travelled (including turns)
	int ticksPerRevolution = 512;		 // Number of steps per full revolution of the wheels
	int tickDelay = 1;								// The delay in between ticks

	void sendTickPart(int leftCode, int rightCode);
};