#ifndef CYBOT_SCAN_H_
#define CYBOT_SCAN_H_

// Author: Phillip Jones
// Data: Updated 10/27/2021
// Version: 10 27 2021  (you can use cyBOT_scan_version() to confirm version)


// Scan value
typedef struct{
    float sound_dist;  // Distance from Ping Sensor (cyBOT_Scan returns -1.0 if PING is not enabled)
    int IR_raw_val;    // Raw ADC value from IR sensor (cyBOT_Scan return -1 if IR is not enabled)
} cyBOT_Scan_t;



// Name: cyBOT_init_Scan
// Input: feature, int where each feature is associated with a bit as follows
//  Bit 0: 1 enable servo
//  Bit 1: 1 enable PING
//  Bit 2: 1 enable IR
//  Bit 3 - 31: Reserved (set to 0's)
// Example: cyBOT_init_Scan(0b0111); // Enables servo, PING, and IR
void cyBOT_init_Scan(int feature);



// Point sensors to angle, and get a scan value
// Input Parameters:
// angle: Direction to point the Sensors for taking a measurement
// getScan : The location of a declared cyBOT_Scan_t structure
// NOTE 1: If PING is not enabled, then getScan.sound_dist returns -1.0
// NOTE 2: If IR is not enabled, then getScan.IR_raw_val returns -1
void cyBOT_Scan(int angle, cyBOT_Scan_t* getScan);



// Returns the version of the libcybotScan library
// Hex encoding: Month Day Year: MMDDYYYY
unsigned int cyBOT_scan_version(void);



////////////////////////////////////////////
//// Calibrate physical CyBOT            ///
////////////////////////////////////////////

// These will be different for each physical CyBOT servo
// where 0 degrees (right), and 180 degrees (left) is located
// These values can be found by running the servo_calibrate function.
// Once you know the values, then you can set them in main().
int right_calibration_value;
int left_calibration_value;



// Servo Calibrate value struct
typedef struct{
    int right;  // Right (0 degree) calibration value
    int left;   // Left (180 degree) calibration value
} cyBOT_SERVRO_cal_t;



// Return a struct containing the right (0 degree), and
// left (180 degree) values that can be used to set
// right_calibration_value, and left_calibration_value
// NOTE: If servo is not enabled, then returns -1 for right and left.
cyBOT_SERVRO_cal_t cyBOT_SERVO_cal(void);



#endif /* CYBOT_SCAN_H_ */