#ifndef ROBOT_H
#define ROBOT_H

#include <stdbool.h>
#include "headers/inputs.h"
#include "wifi/headers/dhcp_server.h"
#include "wifi/headers/udp_server.h"

typedef struct controller_t {
    inputs_t inputs;
    dhcp_server_t dhcp_server;
    udp_server_t udp_server;

    bool is_running;
    float delta_time_ms;
} controller_t;

extern controller_t controller;

// Init all controller's components
void controller_init(void);
// Handle inputs and outputs
void controller_handle_inputs_outputs(void);
// Deinit all controller's components
void controller_deinit(void);

#endif // ROBOT_H