#ifndef COMMANDS_H
#define COMMANDS_H

#define INVALID 0xFF
#define INVALID_LENGTH 0xFE

#define GET_BAUDRATE 0x51
#define GET_ENCODERS 0x52
#define SET_SPEEDS 0x53
#define RESET_ENCODERS 0x54
#define SET_PID_L 0x55
#define SET_PID_R 0x56
#define GET_PID_P 0x57
#define GET_BATTERY_LVL 0x58
#define EN_IMU 0x59
#define EN_ODOM 0x60
#define ODOM_DATA 0x61
#define IMU_DATA 0x62

#define GET_BAUDRATE_DATA_LEN 0x01
#define GET_ENCODERS_DATA_LEN 0x01
#define SET_SPEEDS_DATA_LEN 0x08
#define RESET_ENCODERS_DATA_LEN 0x01
#define SET_PID_DATA_LEN 0x04
#define GET_PID_P_DATA_LEN 0x01
#define GET_BATTERY_LVL_DATA_LEN 0x01
#define EN_IMU_DATA_LEN 0x01
#define EN_ODOM_DATA_LEN 0x01
#define ODOM_DATA_LEN 0x08
#define IMU_DATA_LEN 0x08

#define LEFT_WHEEL 0x00
#define RIGHT_WHEEL 0x01

#endif
