#ifndef _BY_CMD_H__
#define _BY_CMD_H__

#include <stdio.h>
#include <stdint.h>

int by_cmd_init(void);
void *by_cmd_loop(void *ptr);

void by_cmd_send_speed_x(float speed);
void by_cmd_send_speed_y(float speed);
void by_cmd_send_speed_omega(float speed);

int by_cmd_send_distance_x(float speed, uint32_t time);
int by_cmd_send_distance_y(float speed, uint32_t time);
int by_cmd_send_angle_omega(float speed, uint32_t time);

int by_cmd_send_reset_axis_z(void);
int by_cmd_send_reset_axis_x(void);
int by_cmd_send_reset_end_effector(void);

int by_cmd_send_distance_axis_x(uint8_t speed, float distance);
int by_cmd_send_distance_axis_z(uint8_t speed, float distance);
int by_cmd_send_position_axis_x(uint8_t speed, float position);
int by_cmd_send_position_axis_z(uint8_t speed, float position);

int by_cmd_send_angle_claw_arm(float angle);
int by_cmd_send_angle_claw(float angle);
int by_cmd_send_angle_camera(float angle);
int by_cmd_send_angle_scoop(float angle);
int by_cmd_send_angle_storage(float angle);

int by_cmd_send_ranging_start(void);
int by_cmd_recv_ranging_data(float *distance);

#endif