#include <Arduino.h>

#include "core/display/body/body.h"
#include "core/servo/servo.h"
#include "core/ultrasonic/ultrasonic.h"
#include "core/display/face/face.h"
#include "core/robot_state/robot_state.h"

#include "core/actuators/actuators.h"
#include "server/web_server.h"
#include "server/ws_server.h"
#include "core/controller/controller.h"
// #include "core/deprecate/ir_input/ir_input.h"

void setup() {
  Serial.begin(115200);

  oledInit();
  servoInit();
  ultrasonicInit();
  // faceInit();
  actuatorsInit();
  webServerInit();
  wsInit();
  // irInit();

  robot.lastCmdMs = millis();
}

void loop() {
  webServerLoop();
  wsLoop();
  controllerUpdate();
  // irPoll();
}