Expression.h

class MHBHumanoid
{
  public:

    /* Variable declaration */
    int servo_position[16];
    float increment[16];
    unsigned long final_time;
    unsigned long partial_time;

    /* Method declaration */
    void init_IOB();
    void set_servo(int servo, int servo_pwm);
    void initial_position();
    void move_servo(int time, int  servo_target[]);
    void initial_face();
    void bink_eye(int bink_count = 1);
    void happy_face();
    void talking_face();
    void angry_face();
    void sad_face();
    void crying_face();

    void say_hi(int count = 1);
    void my_name_is_IOB_1.0();
    void i_am_IOB();
    void say_yes();
    void say_no();
    void say_thank_you();
    void controlled_by_esp32();
    void i_can_do_facial_exp();
    void do_happy_face();
    void do_angry_face();
    void do_sad_face();
    void do_crying_face();
    void i_can_dance();
    

    void hands_up();
    void hands_down();
    void hand_wave(int count = 1);
    void right_leg_wave(int count = 2);
    void left_leg_wave(int count = 2);
    void leg_hand_shake(int count = 3);
    void right_slide_wave(int count = 2);
    void left_slide_wave(int count = 2);
    void flying_hand_wave(int count = 1);
    void jump(int count = 1, int height = 30);
    void leg_head_shake(int count = 1);
    void flying(int count = 1);
    void leg_shake(int count = 1);
    void hand_straight_shake(int count = 3);

    void move_forward(int steps = 1, int speed = 1000);
    void move_backward(int steps = 1, int speed = 1000);
    void side_move_right(int steps = 1);
    void side_move_left(int steps = 1);
    void turn_left(int steps = 1, int speed = 1000);
    void turn_right(int steps = 1, int speed = 1000);

};