/**
 * @file testMode.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief 
 * @version 0.1
 * @date 2022-09-08
 * 
 * @copyright Copyright (c) 2022
 * 
 */
#ifndef TEST_MODE_H 
#define TEST_MODE_H

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

class TestMode : public DriveModi {
    public:
        TestMode(MoveControl *MoveControl);
        ~TestMode();

        void loop() override;

        void setSpeed(int16_t speed);
        void setRotationSpeed(int16_t speed);

        bool drive(int16_t cm = 0, int16_t degree = 0);

        bool leftEngine(int16_t powerPercentage, int16_t seconds);
        bool rightEngine(int16_t powerPercentage, int16_t seconds);
        bool bothEngine(int16_t powerPercentage, int16_t seconds);

    private:
        MoveControl *moveControl;

        double speed = 0;
        double rotationSpeed = 0;

        bool busy = false;
        
        uint8_t delay = 10;

        uint32_t maneuverTime = 0;
        uint32_t lastMillis = 0;
        uint32_t actionStart = 0;

};

#endif // TEST_MODE_H