// ST4-ESP32 Pulse Guide Example
// Demonstrates hardware-timer pulse guiding with position tracking
//
// Send via serial (57600 baud):
//   CONNECT#              - connect to mount
//   PULSE RA+ 500#        - pulse RA+ for 500ms
//   PULSE DEC- 1000#      - pulse DEC- for 1 second
//   POS?#                 - read current position
//   STATUS?#              - full status report

#include <ST4.h>

ST4Controller controller;
ST4Serial st4Serial;

void setup() {
    Serial.begin(115200);
    Serial.println("ST4 Pulse Guide Example");

    controller.begin(
        ST4_PIN_RA_PLUS, ST4_PIN_RA_MINUS,
        ST4_PIN_DEC_PLUS, ST4_PIN_DEC_MINUS,
        ST4_PIN_LED
    );

    st4Serial.begin(controller, Serial);
    controller.connect();

    Serial.println("Ready. Try: PULSE RA+ 500#");
}

void loop() {
    st4Serial.update();

    // Print position every 5 seconds while moving
    static uint32_t lastPrint = 0;
    if (millis() - lastPrint > 5000) {
        lastPrint = millis();
        if (controller.axisActive(ST4AxisId::RA) ||
            controller.axisActive(ST4AxisId::DECLINATION) ||
            controller.isPulseActive()) {
            Serial.print("RA: ");
            Serial.print(controller.position(ST4AxisId::RA), 6);
            Serial.print("  DEC: ");
            Serial.println(controller.position(ST4AxisId::DECLINATION), 6);
        }
    }
}