/**
 * @file manualControl.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief A small class to drive the Rover by the controller joystick.
 * @version 0.1
 * @date 2021-12-13
 * 
 * @copyright Copyright (c) 2021
 * 
 */
#ifndef MANUAL_CONTROL_H
#define MANUAL_CONTROL_H

#include "moveControl.h"
#include "driveModi/driveModi.h"
#include "controlPadInput.h"

/**
 * @brief Drive the Rover with a Joystick
 * 
 * This class gets the x and y value from the PS3 controller
 * and map the values to moveControl
 * 
 * @see MoveControl
 */
class ManualControl : public DriveModi {
    public:
        ManualControl(MoveControl *moveControl, const ControlPadInput *input);

        /**
         * @brief Destroy the Manual Control object
         * Set in moveControl speed and rotation to 0 and set DrivingStatus::stop
         */
        ~ManualControl();

        /**
         * @brief Calls runManualControl() to update all values.
         * 
         * This function should be called every mainloop. If the delay is not reached, than the
         * functions returns immediately.
         * @see runSpeedometer()
         * @see setDelay()
         */
        void loop() override;

        /**
         * @brief Noramly called repeatedly by loop() to calcluate new values.
         * Set new values for speed and rotation in moveControl
         */
        void runManualControl();

        /**
         * @brief Set the min delay between each loop
         * 
         * @param delay_ time in Milliseconds
         */
        void setDelay(uint8_t delay_) { delay = delay_; }

        /**
         * @brief Set the max speed
         * 
         * @param maxSpeed in m/s 
         */
        void setMaxSpeed(double maxSpeed) { max_speed = maxSpeed; }
        
        /**
         * @brief Set the max rotation
         * 
         * @param maxRotation in rad/s (maybe) 
         */
        void setMaxRotation(double maxRotation) { max_rotation = maxRotation; }

    protected:
        MoveControl *moveControl;
        const ControlPadInput* input;

    private:
        uint32_t lastMillis = 0;
        uint8_t delay = 10;
        double max_speed = 1;
        double max_rotation = 7;
};

#endif // MANUAL_CONTROL_H