//Data.h Data Structure

#ifndef DATA
#define DATA

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

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

struct Data
{
  //MAIN
  // Pointers to classes
  hexapod FireFly;

  //Watchdog
  boolean Send;
  double LastSendTime;
  int WalkTime;
  int HeadTime;  //100

  //Converter
  SerD ServoData[6];
  float HeadAngle;
  int ReadyToSend;

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

  //Startup VARIABLES
  Data()
  {
    LastSendTime = 0;
    HeadAngle = 0;
    HeadTime = 100;

    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);

  }

};

#endif