#include "config.h"
#include "turret.h"

Turret::PinMap pinX = {
    .home = PIN_X_HOME,
    .direction = PIN_X_DIRECTION,
    .pulse = PIN_X_PULSE,
    .enable = PIN_X_ENABLE,
    .laser = PIN_LASER,
};

Turret::PinMap pinY = {
    .home = PIN_Y_HOME,
    .direction = PIN_Y_DIRECTION,
    .pulse = PIN_Y_PULSE,
    .enable = PIN_Y_ENABLE,
    .laser = PIN_LASER,
};

Turret::StepRatio stepRatio(STEP_RATIO_X, STEP_RATIO_Y);
Turret::Offset offset(OFFSET_X, OFFSET_Y, OFFSET_Z);
Turret::ZeroOffset zeroOffset(ZERO_OFFSET_X, ZERO_OFFSET_Y);

Turret turret(stepRatio, offset, zeroOffset, pinX, pinY);

void setup() {
  turret.init();

  Serial.begin(BAUDRATE);

  turret.laserOn().calibrate().moveTo(0, 0, 0);
  delay(5000);

  // test pointage
  double panelWidth = 124.7;
  double panelHeight = 145.0;
  int panelHCount = 3;
  int panelVCount = 2;

  double zeroOffsetV = -21;
  double zeroOffsetH = -163;
  // double zeroOffsetH = -147;

  // Test constant step h,v
  for (double step = 0; step < 160; step += 10) {
    Serial.print("[step]: ");
    Serial.println(step);
    turret.moveTo(step, 0, 0);
    delay(5000);
  }
  for (double step = 0; step > -160; step -= 10) {
    Serial.print("[step]: ");
    Serial.println(step);
    turret.moveTo(step, 0, 0);
    delay(5000);
  }

  turret.gotoZero();
}

void loop() {}