#ifndef BALL_HPP
#define BALL_HPP
#include "main.h"
#include "TopDefine.h"
#include "cmsis_os.h"
#include "FreeRTOS.h"
#include <cmsis_os2.h>
#include "bsp_delay.h"
#include "djiMotor.h"
#include "pid.h"
#include "filter.h"
#include "calc_lib.h"

#define TESTBALL 0
#define ONE_CONTROL 1

// 定义状态枚举
typedef enum {
    BALL_IDLE,         // 空闲状态
    BALL_FORWARD,      // 
    BALL_DROP,         // 
    BALL_REVERSE,      //
    BALL_FLAG,
    BALL_CLOSE,         // 关闭状态
    BALL_FINISH,        // 完成状态

  //持球状态
    BALL_TAKE,
    BALL_LOSE

} BallState_t;

typedef enum
{
    MOTOR_1 = 0,
    MOTOR_2 = 1,
    MOTOR_3 = 2,
    MOTOR_DOWN = 3,
    MOTOR_NUM
}motorhangd_e;

typedef enum
{
    UP2=1,
    MIDDLE2,
    DOWN2,
    IN,
    OUT
}ball_rc_mode;

// 定义光电传感器检测宏
#define IS_PHOTOELECTRIC_BALL() (HAL_GPIO_ReadPin(up_ball_GPIO_Port, up_ball_Pin) == GPIO_PIN_RESET)

class Ball
{
public:
    Ball();
    void ballHadling(void);
    void ballDown(void);
    void Send_control(void);
    void Move_Extend(void);
    void Idle_control(void);
    void rc_mode(void);
    void Extend_mcontrol(int angle1,int angle2);
    void ball_control(void);
  
    BallState_t currentState1; // 当前状态
      int flag_thread;//暂时还没用到
	  int ball_state ;//光电检测
    

    //小米电机伸缩
    MotorFeedback_t *feedback;
    JZ_xiaomi_t xiaomi;


//==========================公共变量==========================//
    int16_t rc_key; //遥控器按键
    int16_t extern_key;
    //用于传接球,运球后通知
    volatile BallState_t ballStatus;//是否有球
    volatile uint32_t hand_thread;//接收传回的线程通知

private:  


    
};

#endif