//Data.h Data Structure

#ifndef DATA
#define DATA

#include "Arduino.h"
#include "Def.h"
#include "SerD.h"

//    LAYOUT
//      _U_
//  0==/   \==3
//     >***<
// 1===|---|===4
//     >***<
//  2==\___/==5

struct Data
{
	int HeadTime;
	int WalkTime;
	SerD ServoData[6];
	float HeadAngle;

	//IK
	int HeadPosition;
	float l3;
	float s;

	//Init
	Data()
	{
		HeadAngle = 0;

		ServoData[0](5, 3, 8);
		ServoData[1](8, 3, 0);
		ServoData[2](5, 3, -8);
		ServoData[3](5, 3, 8);
		ServoData[4](8, 3, 0);
		ServoData[5](5, 3, -8);
	}

	void input (DataObject* R)
	{
		ServoData[0] = R->S0;
		ServoData[1] = R->S1;
		ServoData[2] = R->S2;
		ServoData[3] = R->S3;
		ServoData[4] = R->S4;
		ServoData[5] = R->S5;
	}

};

#endif