#ifndef MT6701_H
#define MT6701_H

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

#define PI 3.14159265359f
#define _2PI 6.28318530718f

#define I2C_TX_PACKET_SIZE (1)
#define I2C_RX_PACKET_SIZE (2)

struct MT6701 {
  int Mot_num;
  float Angle;
  float velocity;
  float full_rotations;
  float Last_Angle;
  float Last_Vel_ts;
  float Vel_Last_Angle;
};

void Set_Sensor(int Mot);
void MT6701_iic_read_angel(void);
void MT6701_get_angle_degree(void);
float GetAngle(struct MT6701 *mt6701);
float GetAngle_NoTrack(struct MT6701 *mt6701);
float GetVelocity(struct MT6701 *mt6701_Vel);

#ifdef __cplusplus
}
#endif

#endif /* MT6701_H */