MotorController.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <string>
#include <mutex>
#include <arpirobot/core/device/BaseDevice.hpp>
 
namespace arpirobot{
    class MotorController : public BaseDevice{
    public:
 
        virtual ~MotorController() = default;
 
        bool isInverted();
 
        void setInverted(bool inverted);
 
        bool isBrakeMode();
 
        void setBrakeMode(bool brakeMode);
 
        double getSpeed();
 
        void setSpeed(double speed);
 
    protected:
        bool isEnabled() override;
 
        bool shouldMatchRobotState() override;
 
        bool shouldDisableWithWatchdog() override;
 
        void enable() override;
 
        void disable() override;
        
        virtual void run() = 0;
 
        double speed = 0;
        std::mutex lock;
        bool enabled = false;
        bool brakeMode = false;
        int8_t speedFactor = 1; // 1 or -1
    };
 
}