#pragma once
#include "CoreMinimal.h"
#include "Robot/PilotComponent/RobotPilotComponent.h"
#include "RobotPilotSO100Component.generated.h"

USTRUCT(BlueprintType)
struct FSo100Actuators : public FRobotActuators
{
	GENERATED_BODY()
	UPROPERTY(EditAnywhere, BlueprintReadWrite)
	float Rotation = 0.f;
	
	UPROPERTY(EditAnywhere, BlueprintReadWrite)
	float Pitch = 0.f;

	UPROPERTY(EditAnywhere, BlueprintReadWrite)
	float Elbow = 0.f;

	UPROPERTY(EditAnywhere, BlueprintReadWrite)
	float WristPitch = 0.f;

	UPROPERTY(EditAnywhere, BlueprintReadWrite)
	float WristRoll = 0.f;
	
	UPROPERTY(EditAnywhere, BlueprintReadWrite)
	float Jaw = 0.f;
};

UCLASS(Blueprintable)
class LUCKYWORLDV2_API URobotPilotSO100Component : public URobotPilotComponent
{
	GENERATED_BODY()

	public:
	URobotPilotSO100Component();
	
	virtual void BeginPlay() override;
	virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction* ThisTickFunction) override;

	UFUNCTION(BlueprintCallable)
	virtual void StartAnimation(const FRobotActuators& NewAnimationTarget) override;
	
	// Here let's write the code trying to match with Constantin class
	// After both classes have been designed around specific needs, see what can be migrated in the parent class and update both children
	
	// Tick where it can have targets
	// Open Claw (ClawIndex)
	// Presets to move certain joints into certain positions -> HardCode
	// Move the arm myself JB + Capture LOG
};