#include <math.h>
#include <stdio.h>
#include <string.h>

#include "stm32g4xx.h"

#include "gpio.h"
#include "led.h"
#include "ori.h"
#include "bar.h"
#include "eep.h"
#include "tim.h"
#include "pwm.h"
#include "tele.h"
#include "med.h"
#include "tick.h"

#include "sbus.h"
#include "iwdg.h"
#include "pid.h"
#include "uart.h"
#include "gps.h"

#include "laser.h"
#include "flow.h"

#include "imu.h"

#include "mot.h"
#include "move.h"

#include "prot.h"


static const float PI = 3.14159265359f;
static const float TO_RAD = PI/180.0f;

#define TELE_TIMER 10 // ms
#define LED_TIMER 100 // ms
#define JOY_TIMER 200 // ms

#define LOG_TIMER 5 // ms

#define PWM_FREQ 100 // Hz

#define MAIN_UPDATE_FREQ 100 // Hz
#define MAIN_UPDATE_PRIORITY 2



float range = 0;


 
int main()
{

   
   LED_Init();
   

  TICK_Init();

  Laser_Init_v2(); 


   //174 1811
  while(true)
  {
    if (isRangeReady())
    {
     range = getRange();
    }
}
  
}
//------------------------------------------------------------------------------