/**
 * @file motorControl.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief 
 * @version 0.1
 * @date 2021-12-09
 * 
 * @copyright Copyright (c) 2021
 * 
 */
#ifndef MOTOR_CONTROL_H
#define MOTOR_CONTROL_H

#include <cstdint>
#include <string>
#include <Arduino.h>

#define DELAY 10
#define PWMFREQ 16000
#define PWMRES 8
#define POWERSTEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
#define PWMMIN 50
#define PWMMAX 95         // Max 98% of 2^PWM_RES

/**
 * @brief 
 * 
 */
class MotorControl {
    public:
        MotorControl();
        void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2);
        void loop();
        void runMotorControl();

        /**
         * @brief Set the minimum duty cycle
         * 
         * @param min duty cycle in percent
         */
        void setMinPwm(uint8_t min);

        /**
         * @brief Set the maximum duty cycle
         * 
         * @param max duty cycle in percent
         */
        void setMaxPwm(uint8_t max);

        void setPowerSteps(uint8_t steps); // Min anfahrkurve einbauen 
        void setTargetPower(int8_t power);
        void setDelay(uint8_t delay); // Min anfahrkurve einbauen
        void stop();

        /**
         * @brief 
         * 
         */
        void emergencyStop();

        int8_t getPower();
        int8_t getTargetPower();
        bool isTargetPowerReached();
        bool isAccelerationPositive();
        bool isAccelerationNegative();

    private:
        void setRealPower(int8_t power);
        void increasePower(int8_t power);

        int8_t target_power = 0;
        int8_t power = 0;
        uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward

        uint8_t pwm_pin;
        uint8_t pwm_channel;
        uint8_t pwm_min = PWMMIN;
        uint8_t pwm_max = PWMMAX;
        uint8_t dir_1;
        uint8_t dir_2;
        uint8_t delay = DELAY;
        uint8_t powersteps = POWERSTEPS;
        
};

#endif // MOTOR_CONTROL_H