Utilities.h

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#ifndef UTILITIES_H_
#define UTILITIES_H_

#define DECIMATION 10    // Decimate the data if necessary
#define REFERENCE_DATA 10000    // Reference data for trajectory tracking
#define BUFLEN 10000 // Actual data; sent to client using circular buffer

typedef enum {
    IDLE, 
    PWM, 
    HOLD, 
    TRACK, 
    ITRACK, 
    ITEST, 
    ISENSE, 
    ICALIB 
    } mode;    // define data structure containing modes


typedef struct {                          
    int refPos[REFERENCE_DATA]; 
    int actPos[BUFLEN];  
    int u[BUFLEN];  
} control_data_t;

void setNclient(int n);

int boundInt(int a, int n);

int maxInt(int a, int b);

mode getMODE();

void setMODE(mode newMODE);


void setN(void);  

int getN(void);                                             


void write_refPos(int position, int index, int motor);      

int get_refPos(int index, int motor);                       

int buffer_empty(void);             

int buffer_full(void);              

int buffer_read_position(int motor);

int buffer_read_u(int motor);

void buffer_read_increment(void);   

void buffer_write(int M1_actPos, int M2_actPos, int M1_u, int M2_u);

void send_data(void);


#endif /* UTILITIES_H_ */