#pragma once

#define RPM(a) ((a) / 60.0 * M_PI * 2.0)
#define KGCM2(a) ((a) / 10000.0)

//Do not change order, append new types at the end
typedef enum{
  ENC = 1,
  RES,
  SINCOS,
  STEPDIR,
  UPDOWN,
  PWM,
  FREQ,
  MITSU,
  YASKAWA,
  HYPER,
  SANYO,
  SSERIAL,
  ENDAT,
  BISS,
  SSI
} protocol_t;

typedef enum{
  ACSYNC = 0,
  ACASYNC,
  AC2PHASE,
  DC
} mot_type_t;

void link_pid();
void link_simplepid();
void link_ac();
int update_cmd();
int update_fb();
int update_mot();