#include "Geometrie.h"

#define POT_1 0
#define POT_2 1
#define POT_3 2
#define POT_4 3
#define POT_5 4
#define POT_INVALIDE 255

#define GROUPE_POT_L1 0
#define GROUPE_POT_L2 1
#define GROUPE_POT_B1 2
#define GROUPE_POT_B2 3
#define GROUPE_POT_R2 4
#define GROUPE_POT_R1 5

#define BRAS_1 0
#define BRAS_2 1
#define BRAS_3 2
#define BRAS_4 3
#define BRAS_5 4
#define BRAS_6 5

#define MASQUE_POT_1 1
#define MASQUE_POT_2 2
#define MASQUE_POT_3 4
#define MASQUE_POT_4 8
#define MASQUE_POT_5 16
#define MASQUE_POT_6 32

#define DISTANCE_APPROCHE_POT_MM 300. 
#define DISTANCE_ATTRAPE_POT_MM 200.

#define DISTANCE_ECHANGE_POT 65.

struct position_t groupe_pot_get_pot(unsigned int groupe_pot, unsigned int num_pot);
enum etat_action_t Strat_2024_attrape_pot(unsigned int groupe_pot, uint32_t step_ms);
enum etat_action_t Strat_2024_echange_pot_avant_arriere(uint32_t step_ms);
enum etat_action_t Strat_2024_depose_pot(uint8_t masque_pot, uint32_t step_ms);