#include "math.h"

//rollH atan((22.5 - 18.5) / 236) ~0.97°
//rollV ~1°

double degToRad(double deg) {
  return deg * M_PI / 180.0;
}

double radToDeg(double rad) {
  return rad * 180.0 / M_PI;
}

void angleToStep(long &stepX, long &stepY, double angleX, double angleY) {
  //TODO remove magic numbers
  double stepRatioX = M_PI / ((51.2 / 15.0)  * (100.0 * 64.0));
  double stepRatioY = M_PI / ((48.0 / 15.0)  * (100.0 * 64.0));
  
  stepX = angleX / stepRatioX;
  stepY = angleY / stepRatioY;
}

void cartesianToPolar(long &stepX, long &stepY, double zeroX, double zeroY, double x, double y, double z) {
  //TODO remove magic numbers
  double distance = 166.0; //turret to screen
  double offsetY = 21.0; //laser to stand
  double offsetX = 0.0; //unused

  x = -x; //natural axis direction
  double dX = x + offsetX;
  double dY = y + offsetY;
  double dZ = z + distance;

  double rho = sqrt(pow(dX, 2.0) + pow(dY, 2.0) + pow(dZ, 2.0));
  double angleY = M_PI / 2.0 - acos(dY / rho);
  double angleX = atan2(dX, dZ);

  angleToStep(stepX, stepY, angleX, angleY);    
}