% This function takes in a square positon on the chess board,
% e.g. 'A2' or 'h8'
% Returns motor angles based off calibration values

% +------------------------+
% |a8                    h8|
% |                        |
% |                        |
% |                        |
% |                        |
% |a1                   h1 |
% +------------------------+

% TODO:
% If X,Y motor axes not perpendicular and parallel to
% respective sides of chess board, need to calculate
% based off the board being diagonal
function [bigDC, smallDC] = squareToDegrees(spot)
    % Make sure spot is 2 chars long
    if length(spot) ~= 2
       fprintf("Error: square spot not 2 chars.\n");
       return;
    end

    % Get ascii values for spot
    ascii = double(spot);

    %% CALIBRATION
    % Going from h1 to h8, bigDC Motor values for each square
    % Based off -12800 at 8, 0 at 1
    calibrationBigDC = [-12800, -10971, -9143, -7314,...
                         -5486, -3657, -1829, 0];

    % Going from a1 to h1, smallDC motor values for each square
    % These calculated based off -21500 at a, 0 at h
    calibrationSmallDC  = [-21500, -18426, -15355, -12284, ...
                            -9213, -6142, -3071, 0];

    %% USE CALIBRATION
    % ascii(1) = 97 for a, 104 for h (-96 gives 1through8)
    smallDC = calibrationSmallDC(ascii(1) - 96);

    % ascii(2) = 49 for '1', 56 for '8' (-48 gives 1through8)
    bigDC   = calibrationBigDC(8 - (ascii(2) - 48 - 1));

end