ev3cxx_motor.h

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#pragma once

#include "ev3cxx.h"

namespace ev3cxx {

enum class MotorPort {
    A = 0,  
    B,      
    C,      
    D       
};

enum class MotorType {
    MEDIUM = 1,     
    LARGE,          
    UNREGULATED,    
};

namespace detail {
struct MotorConstants
{
    static const int POWER_MAX = 100;   
    static const int POWER_MIN = -100;  
    static constexpr float NUMBER_OF_DEGREES_PER_ROTATION = 360.0;
}; // struct MotorConstants
} // namespace detail

class Motor
    : public detail::MotorConstants
{
public:
    
    Motor(MotorPort port, MotorType type = MotorType::LARGE)
    : m_port(static_cast<motor_port_t>(port)), 
      m_type(static_cast<motor_type_t>(type)) 
    {
        ev3_motor_config(m_port, m_type);
    }

    ~Motor() {
        Motor::off(false);
    }

    void off(bool brake = true) {
        ev3_motor_stop(m_port, brake);
    }

    void on(int power = 50) {
        // change type of motor: UNREGULATED_MOTOR => LARGE_MOTOR/MEDIUM_MOTOR 
        if(m_type != getType()) {
            ev3_motor_config(m_port, m_type);
        }
        ev3_motor_set_power(m_port, power);
    }

    void unregulated(int power = 50) { 
        // change type of motor: LARGE_MOTOR/MEDIUM_MOTOR => UNREGULATED_MOTOR
        if(UNREGULATED_MOTOR != getType()) {
            ev3_motor_config(m_port, UNREGULATED_MOTOR);
        }
        ev3_motor_set_power(m_port, power);
    }
    
    void onForDegrees(int speed = 50, int degrees = 360, bool_t brake = true, bool_t blocking = true, unsigned int wait_after_ms = 60) {
        if (speed == 0)
            return;
        if (speed < 0) {
            speed = -speed;
            degrees = -degrees;
        }
        ev3_motor_rotate_brake(m_port, degrees, speed, blocking, brake);
        tslp_tsk(wait_after_ms);
    }

    void onForRotations(int speed = 50, float rotations = 1, bool_t brake = true, bool_t blocking = true, unsigned int wait_after_ms = 60) {
        if (speed == 0)
            return;
        if (speed < 0) {
            speed = -speed;
            rotations = -rotations;
        }
        ev3_motor_rotate_brake(m_port, NUMBER_OF_DEGREES_PER_ROTATION * rotations, speed, blocking, brake);
        tslp_tsk(wait_after_ms);
    }

    void onForSeconds(int speed = 50, unsigned int time_ms = 1000, bool_t brake = true) {
        on(speed);
        tslp_tsk(time_ms);
        off(brake);
    }

    int degrees() const { return ev3_motor_get_counts(m_port); }

    float rotations() const { 
        return ev3_motor_get_counts(m_port) / NUMBER_OF_DEGREES_PER_ROTATION;
    }

    int currentPower() const { return ev3_motor_get_power(m_port); }

    void resetPosition() { ev3_motor_reset_counts(m_port); }
    
    motor_port_t getPort() const { return m_port; }

    ER_UINT getType() const { 
        ER_UINT motor_type = ev3_motor_get_type(m_port);

        if(motor_type < 0 || motor_type >= TNUM_MOTOR_PORT)
            return E_ID;
        return motor_type; 
    }

private:
    motor_port_t m_port;
    motor_type_t m_type;
}; // class Motor
} // namespace ev3cxx