#ifndef GO1_PRO_UNITREE_LEGGED_SAFETY_H_
#define GO1_PRO_UNITREE_LEGGED_SAFETY_H_

#include "comm.h"
#include "quadruped.h"

namespace UNITREE_LEGGED_SDK {

class Safety {
 public:
  Safety(LeggedType type);
  ~Safety();
  void PositionLimit(LowCmd& cmd);
  int PowerProtect(LowCmd& cmd, LowState& state, int factor);
  int PositionProtect(LowCmd& cmd, LowState& state, double limit = 0.087);

 private:
  int WattLimit;
  int Wcount;
  double Hip_max;
  double Hip_min;
  double Thigh_max;
  double Thigh_min;
  double Calf_max;
  double Calf_min;
};

}  // namespace UNITREE_LEGGED_SDK

#endif