/**
 * @file driveModi.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief Contains a virtual class for all Modi
 * @version 0.1
 * @date 2021-12-14
 * 
 * @copyright Copyright (c) 2021
 * 
 */

#ifndef DRIVEMODI_H
#define DRIVEMODI_H

#include "component.h"
#include "moveControl.h"

/**
 * @brief Baseclass to build DriveModi
 * 
 * This class must be inherited by other classes which want to be
 * act as a DriveModi, because the DriveModi structure uses polymorphism.
 */
class DriveModi : public Component {
    public:
        DriveModi(MoveControl* moveControl);
        virtual ~DriveModi();

        /**
         * @brief Set the max speed
         * 
         * @param maxSpeed in m/s 
         */
        void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
        void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
        void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
        double getMaxSpeed() const { return this->maxForwardSpeed; }

        /**
         * @brief Set the max rotation
         * 
         * @param maxRotation in rad/s (maybe) 
         */
        void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
        void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
        void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
        double getMaxRotation() const { return this->maxRotationSpeed; }

    protected:
        MoveControl *moveControl;
        double maxForwardSpeed = 1;
        double maxRotationSpeed = 7;
        
};
#endif // DRIVEMODI_H