#pragma once
#include <HexapodProtocol.h>
#include "Sticks.h"
#include "RemoteIMU.h"
#include "RemoteState.h"

// The inverse of the robot's InputMapper: turns physical stick axes, handset
// tilt and operator state into a CmdPacket. It only fills fields per the
// protocol contract (HexapodProtocol.h); all physical scaling and mode
// interpretation stays on the robot.
class PacketBuilder {
public:
  CmdPacket build(const StickFrame& s, const RemoteIMU& imu, const RemoteState& st, uint32_t now_ms);

private:
  uint8_t seq_ = 0;
  bool walk_seen_ = false;
  uint32_t last_walk_input_ms_ = 0;

  static int16_t tiltToWire(float deg, float blend);
};