#pragma once
#include "Config.h"

struct AxisCal {
  int16_t min, center, max;   // raw ADC counts
};

// Processed stick values, -1000..1000 per logical axis (see StickAxis):
// X + = right, Y + = forward, TWIST + = counterclockwise.
struct StickFrame {
  int16_t v[NUM_AXES] = {};
  bool allCentered(int16_t tolerance) const;
};

class Sticks {
public:
  // Loads calibration from EEPROM (or Config defaults), then captures the
  // resting center of each axis. Returns false if a stick looked deflected
  // at power-on (center capture skipped for that axis).
  bool begin();
  void update();                               // read + filter + map all axes
  const StickFrame& frame() const { return frame_; }
  int16_t raw(int axis) const { return (int16_t)filtered_[axis]; }
  const AxisCal& cal(int axis) const { return cal_[axis]; }

  // Sweep calibration: start, move every stick to all its limits, release
  // all sticks, then save. Output is held at zero while calibrating.
  void startCalibration();
  bool saveCalibration();                      // false = sweep too small, nothing saved
  void cancelCalibration();
  bool calibrating() const { return calibrating_; }
  void resetCalibrationToDefaults();           // also clears EEPROM
  void printCalibration(Stream& s) const;      // paste-able into Config.h

private:
  AxisCal cal_[NUM_AXES];
  AxisCal sweep_[NUM_AXES];
  float filtered_[NUM_AXES] = {};
  StickFrame frame_;
  bool calibrating_ = false;

  int16_t readAveraged(int axis, int samples);
  int16_t mapAxis(int axis, float raw) const;
  void applyDefaults();
  bool loadFromEeprom();
  void saveToEeprom();
};