#pragma once

#include "message.h"

#include <stdbool.h>
#include <stdint.h>

static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;

void
set_wheel_speed (
		Client session,
		int16_t w1,
		int16_t w2,
		int16_t w3,
		int16_t w4 );

static const uint8_t SET_CHASSIS_WHEEL_SPEED_CMDID = 0x26;

void
set_chassis_wheel_speed (
		Client session,
		int8_t w1,
		int8_t w2,
		int8_t w3,
		int8_t w4 );

static const uint8_t CHASSIS_SPEED_MODE_CMDID = 0x21;

void
chassis_speed_mode (
		Client session,
		float x,
		float y,
		float z );

static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;

enum MOVEMENTMODE {
    MOVEMENTMODE_FREE,
    MOVEMENTMODE_GIMBAL_LEAD,
    MOVEMENTMODE_CHASSIS_LEAD
};

void
set_robot_mode (
		Client session,
		enum MOVEMENTMODE mode );

// cmdset 0x48
static const uint8_t SUBNODE_RESET_CMDID = 0x02;

void
subnode_reset (
		Client session );

// cmdset 0x48
static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;

void
subscribe_add_node (
		Client session );