RBControl_motor.hpp

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#pragma once
 
#include <atomic>
#include <functional>
#include <memory>
 
#include "RBControl_encoder.hpp"
#include "RBControl_pinout.hpp"
#include "RBControl_serialPWM.hpp"
#include "RBControl_util.hpp"
 
namespace rb {
 
class Manager;
class MotorChangeBuilder;
 
class Motor {
    friend class Manager;
    friend class MotorChangeBuilder;
 
public:
    void power(int8_t value);
 
    void pwmMaxPercent(int8_t percent);
 
    int8_t pwmMaxPercent() const { return m_pwm_max_percent; }
 
    void stop();
 
    void driveToValue(int32_t positionAbsolute, uint8_t power, std::function<void(Encoder&)> callback = nullptr);
    void drive(int32_t positionRelative, uint8_t power, std::function<void(Encoder&)> callback = nullptr);
 
    Encoder* encoder();
 
    Encoder* enc() { return encoder(); }
 
private:
    Motor(Manager& man, MotorId id, SerialPWM::value_type& pwm0, SerialPWM::value_type& pwm1);
    Motor(const Motor&) = delete;
 
    bool direct_power(int8_t power);
    bool direct_pwmMaxPercent(int8_t percent);
    bool direct_stop(int8_t);
 
    Manager& m_man;
 
    SerialPWM::value_type& m_pwm0;
    SerialPWM::value_type& m_pwm1;
    MotorId m_id;
 
    std::mutex m_mutex;
    std::unique_ptr<Encoder> m_encoder;
    int8_t m_power;
 
    int8_t m_pwm_max_percent;
    float m_pwm_scale;
};
 
} // namespace rb