// hexapod.h

#ifndef HEXAPOD_H
#define HEXAPOD_H

#include "Arduino.h"

//Core
#include "Converter.h"
#include "InverseKinemetics.h"
#include "Servos.h"
#include "Data.h"
#include "math.h"
#include "SerD.h"
//#include "Gedrags_Classen.h"

//Addons
#include "Segment.h"
#include "IRremote.h"
#include "TinyGPS.h"
//#include "WiiChuck.h"
//#include "Wire.h"

#define PingS 3
#define PingR 4
#define Gps Serial2

#define power	1036
#define up      1112
#define down    1113
#define left    1114
#define right   1115
#define ok      1116
#define forward 1056
#define back    1057
#define IR_0	1024
#define IR_1	1025
#define IR_2	1026
#define IR_3	1027
#define IR_4	1028
#define IR_5	1029
#define IR_6	1030
#define IR_7	1031
#define IR_8	1032
#define IR_9	1033

class hexapod
{
public:
	boolean rr, s;

	IRrecv *irrecv;
	decode_results results, old;

	void FireFly();

	int GetNewCmd();

	float GetUltraSoneDistance();

	void CoreSend(DataObject *Input);
};

#endif