#ifndef KHEPCTRL_ONEWAY_CMDS_H
#define KHEPCTRL_ONEWAY_CMDS_H

#include "raw.h"

/** TYPES **/

/* Leds */
typedef enum {
  KHEP_LED_OFF,
  KHEP_LED_ON,
  KHEP_LED_TOGGLE
} led_status_t;

typedef enum {
  KHEP_LED_LATERAL,
  KHEP_LED_FRONTAL
} led_t;

/** FUNCTIONS **/

khep_cmd_ret_code_t khep_cmd_config_speedctrl(khep_hand_t hand,
					      unsigned int proportionnal,
					      unsigned int integral,
					      unsigned int derivative);

khep_cmd_ret_code_t khep_cmd_reachpos(khep_hand_t hand,
				      unsigned int pos_left,
				      unsigned int pos_right);

khep_cmd_ret_code_t khep_cmd_setspeed(khep_hand_t hand,
				      int speed_motor_left,
				      int speed_motor_right);

khep_cmd_ret_code_t khep_cmd_config_posctrl(khep_hand_t hand,
					    unsigned int proportionnal,
					    unsigned int integral,
					    unsigned int derivative);

khep_cmd_ret_code_t khep_cmd_setposcounter(khep_hand_t hand,
					   int position_motor_left,
					   int position_motor_right);

khep_cmd_ret_code_t khep_cmd_config_speedprofiler(khep_hand_t hand,
						  unsigned int max_speed_left,
						  unsigned int acc_left,
						  unsigned int max_speed_right,
						  unsigned int acc_right);

khep_cmd_ret_code_t khep_cmd_setled(khep_hand_t hand,
				    led_t selected,
				    led_status_t status);

khep_cmd_ret_code_t khep_cmd_setpwm(khep_hand_t hand,
				    short int pwm_motor_left,
				    short int pwm_motor_right);


#endif /* KHEPCTRL_ONEWAY_CMDS_H */