#ifndef BTROBOT_H_

#define BTROBOT_H_

#include "WPILib.h"

#include "math.h"

#include <iostream.h>

#include "VisionAPI.h"

#include "AxisCamera.h"

#include "TrackAPI.h"

#define PI 3.14159265358979

const int POSITION_1 = 50;

const int POSITION_2 = 150;

const int POSITION_3 = 400;

const int POSITION_4 = 600;

const int POSITION_5 = 850;

class PORTS

{

public:

/* PWMs, max 10 */

static const int LEFT_DRIVE_MOTOR = 1;

static const int RIGHT_DRIVE_MOTOR = 2;

static const int COLLECTOR_MOTOR = 3;

static const int ARBITRATOR_MOTOR = 4;

static const int SHOOTER_MOTOR_S1 = 5;

static const int SHOOTER_MOTOR_S2_T = 6;

static const int TURRET_MOTOR = 7;

static const int TEST_TURRET_MOTOR = 8;

static const int CAMERA_SERVO_H = 9;

static const int CAMERA_SERVO_V = 10;

/* Digital Inputs, max 14*/

static const int ARBITRATOR_LIMIT = 1;

static const int LEFT_ULTRASONIC_PING = 2;

static const int LEFT_ULTRASONIC_ECHO = 3;

static const int RIGHT_ULTRASONIC_PING = 4;

static const int RIGHT_ULTRASONIC_ECHO = 5;

static const int ALLIANCE_SWITCH = 6;

static const int TURRET_ENCODER_A = 7;

static const int TURRET_ENCODER_B = 8;

static const int TURRET_LIMIT_CC = 9;

static const int TURRET_LIMIT_CL = 10;

static const int COLLECTOR_JAM_LIMIT = 11;

static const int TEST_TURRET_LIMIT_CC = 12;

static const int TEST_TURRET_LIMIT_CL = 13;

static const int TURRET_CENTER_LIMIT = 12;

static const bool TEST_BOARD_MODE = false;

/* Analog Inputs, max 7 */

static const int AUTONOMOUS_SELECTOR = 1;

/* Joysticks, max 4*/

static const int RIGHT_JOYSTICK = 1;

static const int LEFT_JOYSTICK = 2;

static const int SHOOTER_JOYSTICK = 3;

};

class BUTTONS_S

{

public:

static const int SHOOTER_FIRE = 1;

static const int TURRET_180_LEFT = 4;

static const int TURRET_180_RIGHT = 5;

static const int SHOOTER_ENABLE = 6;

static const int SHOOTER_DISABLE = 7;

static const int COLLECTOR_ENABLE = 11;

static const int COLLECTOR_DISABLE = 10;

static const int COLLECTOR_REVERSE = 9;

static const int ARBITRATOR_REVERSE = 8;

static const int OVERRIDE = 3;

static const int TURRET_CENTER = 2;

};

// To locally enable debug printing: set the debugFlag to a 1, to disable set to 0

#endif