ev3cxx_motor_tank.h

#pragma once

#include "ev3cxx_motor.h"

namespace ev3cxx {

class MotorTank
    : public detail::MotorConstants
{
public:

    MotorTank() = delete;

    MotorTank(MotorPort left_motor_port, MotorPort right_motor_port, MotorType type = MotorType::LARGE)
    : m_left_motor(left_motor_port, type), 
      m_right_motor(right_motor_port, type)
    {}

    void off(bool brake = true) {
        m_left_motor.off(brake);
        m_right_motor.off(brake);
    }

    void on(int left_speed = 50, int right_speed = 50) {
        m_left_motor.on(left_speed);
        m_right_motor.on(right_speed);
    }

    void unregulated(int left_power = 50, int right_power = 50) { 
        m_left_motor.unregulated(left_power);
        m_right_motor.unregulated(right_power);
    }
    
    void onForDegrees(int left_speed = 50, int right_speed = 50, int degrees = 360, bool_t brake = true, bool_t blocking = true, unsigned int wait_after_ms = 60) {
        int labs = abs(left_speed);
        int rabs = abs(right_speed);
        if (labs > rabs) {
            const float sr = float(rabs) / float(labs);
            m_right_motor.onForDegrees(right_speed, degrees * sr, brake, false, 0);
            m_left_motor.onForDegrees (left_speed, degrees, brake, blocking, wait_after_ms);
        } else {
            const float sr = rabs != 0 ? float(labs) / float(rabs) : 0;
            m_left_motor.onForDegrees (left_speed, degrees * sr, brake, false, 0);
            m_right_motor.onForDegrees(right_speed, degrees, brake, blocking, wait_after_ms);
        }
    }

    void onForRotations(int left_speed = 50, int right_speed = 50, float rotations = 1, bool_t brake = true, bool_t blocking = true, unsigned int wait_after_ms = 60) {
        onForDegrees(left_speed, right_speed, rotations * NUMBER_OF_DEGREES_PER_ROTATION, brake, blocking, wait_after_ms);
    }

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

    void resetPosition()
    {
        m_left_motor.resetPosition();
        m_right_motor.resetPosition();
    }

    Motor& leftMotor() { return m_left_motor; }

    const Motor& leftMotor() const { return m_left_motor; }

    Motor& rightMotor() { return m_right_motor; }

    const Motor& rightMotor() const { return m_right_motor; }

private:
    Motor m_left_motor;
    Motor m_right_motor;
}; // class MotorTank
} // namespace ev3cxx