#pragma once
#include <stdint.h>
#include <stdio.h>
#define servo_amount 5

typedef struct{
  uint8_t addr;
  uint8_t data_len;
  uint8_t special_bit;
  uint8_t sign_ed;
}reg_info_t;


// Άζ»ϊΆΤΟσ
typedef struct {
  uint8_t id;
  reg_info_t reg_info;
  uint8_t cmd;
} servo_obj_t;

enum {
  STS_small_L = 0,
  STS_small_M,
  STS_small_R,//right
  STS_large_R,//Roll
  STS_large_Y,
};

void servo_drive_single(uint8_t id, uint8_t addr, uint8_t cmd, int16_t *param_data, uint8_t param_count);
servo_obj_t* Get_Servo(uint8_t servo_id);