#ifndef CONFIG_H
#define CONFIG_H

// WiFi Configuration
#define WIFI_SSID "tami"
#define WIFI_PASSWORD ""

// Static IP Configuration
#define STATIC_IP IPAddress(10, 81, 2, 185)
#define GATEWAY IPAddress(10, 81, 2, 1)
#define SUBNET IPAddress(255, 255, 255, 0)
#define DNS IPAddress(10, 81, 2, 1)

// Shared Enable Pins (both drivers share these)
#define R_EN_PIN 27    // Right Enable (shared)
#define L_EN_PIN 14    // Left Enable (shared)

// Motor 1 BTS7960 Pin Definitions
#define RPWM1_PIN 25    // Right PWM Motor 1 (Forward)
#define LPWM1_PIN 26    // Left PWM Motor 1 (Reverse)
#define R_IS1_PIN 34    // Right Current Sense Motor 1 (ADC input only)
#define L_IS1_PIN 35    // Left Current Sense Motor 1 (ADC input only)

// Motor 2 BTS7960 Pin Definitions
#define RPWM2_PIN 32    // Right PWM Motor 2 (Forward)
#define LPWM2_PIN 33    // Left PWM Motor 2 (Reverse)
#define R_IS2_PIN 36    // Right Current Sense Motor 2 (ADC input only - VP)
#define L_IS2_PIN 39    // Left Current Sense Motor 2 (ADC input only - VN)

// PWM Configuration
#define PWM_FREQ 20000      // 20kHz - reduces motor noise
#define PWM_RESOLUTION 8    // 8-bit resolution (0-255)
#define PWM_CHANNEL_R1 0    // LEDC channel for Motor 1 RPWM
#define PWM_CHANNEL_L1 1    // LEDC channel for Motor 1 LPWM
#define PWM_CHANNEL_R2 2    // LEDC channel for Motor 2 RPWM
#define PWM_CHANNEL_L2 3    // LEDC channel for Motor 2 LPWM
#define MIN_PWM_PERCENT 20  // Minimum PWM when motor is running (%)

// Motor pin configuration structure
struct MotorPins {
    uint8_t rpwm;           // Right PWM pin (forward)
    uint8_t lpwm;           // Left PWM pin (reverse)
    uint8_t r_is;           // Right current sense pin
    uint8_t l_is;           // Left current sense pin
    uint8_t pwm_channel_r;  // LEDC PWM channel for right
    uint8_t pwm_channel_l;  // LEDC PWM channel for left
};

// Motor 1 pin configuration
const MotorPins MOTOR1_PINS = {
    RPWM1_PIN, LPWM1_PIN, R_IS1_PIN, L_IS1_PIN, PWM_CHANNEL_R1, PWM_CHANNEL_L1
};

// Motor 2 pin configuration
const MotorPins MOTOR2_PINS = {
    RPWM2_PIN, LPWM2_PIN, R_IS2_PIN, L_IS2_PIN, PWM_CHANNEL_R2, PWM_CHANNEL_L2
};

// Current Sense Configuration
// BTS7960 current sense ratio: 8500:1 (kilo-amps)
// With 1kΩ resistor on IS pin: V = I_motor / 8500
// ESP32 ADC: 12-bit (0-4095), 0-3.3V
#define CURRENT_SENSE_RATIO 8500.0f   // Amps to sense current ratio
#define SENSE_RESISTOR 1000.0f        // 1kΩ sense resistor (ohms)
#define ADC_MAX 4095.0f               // 12-bit ADC max value
#define ADC_VREF 3.3f                 // ADC reference voltage
#define CURRENT_CALIBRATION 1.0f     // Calibration factor (measured current / reported current)

// Current logging interval for data collection
#define CURRENT_LOG_INTERVAL_MS 100  // Log current readings every 100ms

// Simple Stall Detection
// Based on clean data: Running ~2A, Stall ~17A (8.5x difference)
#define STALL_THRESHOLD 8.0f          // Amps - midpoint between 2A run and 17A stall
#define STALL_CONFIRM_SAMPLES 3       // Debounce: 3 samples = 300ms at 100ms interval
#define STALL_STABILIZE_MS 500        // Ignore current spikes for 500ms after direction change

// Web Server
#define HTTP_PORT 80

#endif