#ifndef MESSAGE_PROPULSION_H
#define MESSAGE_PROPULSION_H
#define USB_ID_PROPULSION 'P'

#define REG_PROPULSION_POSITION 0x00
#define REG_PROPULSION_MODE 0x0D
#define REG_PROPULSION_PWM 0x0E
#define REG_PROPULSION_VITESSE_ROUES 0x12
#define REG_PROPULSION_VITESSE_ROBOT 0x1A

struct msg_propulsion_position_t{
    float position_x_mm, position_y_mm, orientation_rad;
};

struct msg_propulsion_pwm_t{
    uint16_t pwm_gauche, pwm_droit;
};

struct msg_propulsion_vitesse_roues_t{
    float vitesse_gauche_mm_s, vitesse_droite_mm_s;
};

struct msg_propulsion_vitesse_robot_t {
    float avance_mm_s, rotation_rad_s;
};

#endif