From a592848f342f39d340bf255c6de78a83a5c22fc0 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Tue, 8 Jul 2025 15:20:01 +0200
Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20Adds=20new=20messages?=
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---
 esp32/include/msgs/mode_msg.hpp  |  2 +-
 esp32/include/msgs/servo_msg.hpp | 22 ++++++++++++++++++++++
 2 files changed, 23 insertions(+), 1 deletion(-)
 create mode 100644 esp32/include/msgs/servo_msg.hpp

diff --git a/esp32/include/msgs/mode_msg.hpp b/esp32/include/msgs/mode_msg.hpp
index 4e93ad4..1b2125c 100644
--- a/esp32/include/msgs/mode_msg.hpp
+++ b/esp32/include/msgs/mode_msg.hpp
@@ -1,7 +1,7 @@
 #pragma once
 #include <ArduinoJson.h>
 
-enum class MotionState { ON, OFF };
+enum class MotionState { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, CRAWL, WALK };
 
 struct ModeMsg {
     MotionState mode;
diff --git a/esp32/include/msgs/servo_msg.hpp b/esp32/include/msgs/servo_msg.hpp
new file mode 100644
index 0000000..5a3e8df
--- /dev/null
+++ b/esp32/include/msgs/servo_msg.hpp
@@ -0,0 +1,22 @@
+#pragma once
+#include <ArduinoJson.h>
+
+#ifndef NUM_SERVOS
+#define NUM_SERVOS 12
+#endif
+
+struct ServoMsg {
+    float angles[NUM_SERVOS];
+    friend void toJson(JsonVariant v, ServoMsg const &a) {
+        JsonArray arr = v.to<JsonArray>();
+        for (int i = 0; i < NUM_SERVOS; i++) {
+            arr.add(a.angles[i]);
+        }
+    }
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        for (int i = 0; i < NUM_SERVOS; i++) {
+            angles[i] = arr[i].as<float>();
+        }
+    }
+};
\ No newline at end of file