#pragma once

// ── WiFi credentials (set via build flags or edit here) ──────────
#ifndef WIFI_SSID
#define WIFI_SSID "YOUR_SSID"
#endif
#ifndef WIFI_PASS
#define WIFI_PASS "YOUR_PASS"
#endif

// ── Pin assignments ──────────────────────────────────────────────
#define THETA_STEP_PIN 25
#define THETA_DIR_PIN  26
#define THETA_EN_PIN   27

#define PHI_STEP_PIN   32
#define PHI_DIR_PIN    33
#define PHI_EN_PIN     14

// ── TMC2209 UART ─────────────────────────────────────────────────
#define TMC_RX_PIN       16
#define TMC_TX_PIN       17
#define THETA_TMC_ADDR   0
#define PHI_TMC_ADDR     1
#define TMC_R_SENSE      0.11f   // sense resistor value (ohms)
#define TMC_RMS_CURRENT  800     // motor current in mA

// ── Motor constants ──────────────────────────────────────────────
#define STEPS_PER_REV    200
#define DEFAULT_MICROSTEPS 16    // 0.1125 deg per microstep
// Steps per degree = STEPS_PER_REV * MICROSTEPS / 360.0
// At 16 microsteps: 200 * 16 / 360 = 8.888...

// ── Motion defaults ──────────────────────────────────────────────
#define DEFAULT_MAX_SPEED  2000.0f   // steps/sec (~225 deg/sec)
#define DEFAULT_ACCEL      1000.0f   // steps/sec^2 (~112 deg/sec^2)
#define SETTLE_MS          200       // ms after move before measurement

// ── Homing ───────────────────────────────────────────────────────
#define HOME_SPEED         500.0f    // steps/sec (slower for stall detect)
#define STALL_THRESHOLD    50        // TMC2209 StallGuard threshold (tune per setup)
#define HOME_BACKOFF_STEPS 100       // steps to back off after stall detection

// ── Safety ───────────────────────────────────────────────────────
#define IDLE_DISABLE_MS    30000     // disable motors after 30s idle
#define WATCHDOG_TIMEOUT_S 60        // WDT reset if no command while moving

// ── mDNS ─────────────────────────────────────────────────────────
#define MDNS_HOSTNAME "positioner"