#define module_driver   
#include "stepdance.hpp"  

// -- Define Input Ports --
InputPort input_a;  // Input from Main Board

// -- Define Output Ports / Channels --
OutputPort output_a; OutputPort output_b; OutputPort output_c; OutputPort output_d;
Channel channel_w; Channel channel_x; Channel channel_y; Channel channel_z; 


void setup() {
  // -- Configure and start the output ports --
  output_a.begin(OUTPUT_A);
  output_b.begin(OUTPUT_B);
  output_c.begin(OUTPUT_C);
  output_d.begin(OUTPUT_D);

  // -- Enable the output drivers --
  enable_drivers();

  // -- Configure and start the LOCAL channels --
  channel_w.begin(&output_a, SIGNAL_E); channel_w.set_ratio(1, 1);
  channel_x.begin(&output_b, SIGNAL_E); channel_x.set_ratio(1, 1);
  channel_y.begin(&output_c, SIGNAL_E); channel_y.set_ratio(1, 1);
  channel_z.begin(&output_d, SIGNAL_E); channel_z.set_ratio(1, 1);

  // -- Configure and start the INPUT port --
  input_a.begin(INPUT_A);
  
  // -- Map INPUT SIGNALS to LOCAL CHANNELS --
  
  // Map incoming X signal (2us)
  input_a.output_x.map(&channel_w.input_target_position);

  // Map incoming Y signal (3us)
  input_a.output_y.map(&channel_x.input_target_position);

  // Map incoming Z signal (6us)
  input_a.output_z.map(&channel_y.input_target_position);

  // Map incoming E signal (7us)
  input_a.output_e.map(&channel_z.input_target_position);

  dance_start();
}


void loop() {

  dance_loop(); 
}