/home/benoit/sketchbook/libraries/HerkuleXLib/HkxContRotation.h

Go to the documentation of this file.

#ifndef _HKXCONTROTATION_H
#define _HKXCONTROTATION_H

#include "Arduino.h"
#include "HkxCommunication.h"
#include "HkxStatus.h"

class HkxContRotation{
private:
  HkxCommunication& _herkXCom; 
  HkxPrint& _print; 
  boolean _connected; 
  const String _className;
  uint8_t _id;
  hkxTorqueControl _torqueControl;
  hkxLEDControl _ledControl;
  HkxStatus _statusED;

  uint8_t updateStatus();

  void errorPrint(const String& message){if(_print._errorMessages){_print.errorPrint(_className + message);}};

  void warningPrint(const String& message){if(_print._errorMessages){_print.warningPrint(_className + message);}};

  void infoPrint(const String& message){if(_print._errorMessages){_print.infoPrint(_className + message);}};
public:  
  HkxContRotation(uint8_t ID, HkxCommunication& herkXCom, HkxPrint& print);
  
  boolean tryConnect();
  uint8_t getID() const {return this->_id;}; 

  hkxTorqueControl getTorqueControl() const {return this->_torqueControl;};

  hkxLEDControl getLEDControl() const {return this->_ledControl;};

  HkxCommunication& getCommunication() const {return this->_herkXCom;};

  boolean isConnected() const {return this->_connected;};

  void setLEDControlVariable(hkxLEDControl newLEDControl){this->_ledControl = newLEDControl;};
  boolean isStopped(){
    this->updateStatus();
    return !this->_statusED.isDetail(HKX_STAT_MOVING_FLAG);
  };

  uint8_t getStatus(HkxStatus& statusED, boolean update);

  uint8_t clearStatus();

  uint8_t setTorqueLEDControl(HkxMaybe<hkxTorqueControl> newTorqueControl, HkxMaybe<hkxLEDControl> newLEDControl);

  uint8_t moveRotation(int16_t pwm, HkxMaybe<uint16_t> playTime, HkxMaybe<hkxLEDControl> LEDControl);

  uint8_t getBehaviour(HkxMaybe<uint16_t> inputVoltage, HkxMaybe<uint16_t> temperature, HkxMaybe<int16_t> velocity, HkxMaybe<int16_t> PWM);

  uint8_t reboot();
};

#endif    // _HKXCONTROTATION_H