#pragma once
#include "types.hpp"
#include <cstdint>

class YawTracker {
public:
    YawTracker();
    bool  begin(const char* device = IMU_DEVICE, int baud = IMU_BAUDRATE);
    void  update(float dt);
    void  calibrate(int samples = 200);

    float yaw()          const { return _yaw; }
    float unbounded_yaw() const { return _unbounded_yaw; }
    float gyro_z()       const { return _gyro_z; }
    bool  ready()        const { return _ready; }

private:
    int   _fd;
    float _yaw, _unbounded_yaw;
    float _gyro_z;
    float _gyro_bias;
    bool  _ready;
    int   _parseJY62();
};