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

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#ifndef _HKXGROUPPOSCONTROL_H
#define _HKXGROUPPOSCONTROL_H

#include "HkxPosControl.h"

class HkxGroupPosControl{
private:
  HkxPosControl** _servos;
  const uint8_t _length;
  HkxCommunication& _herkXCom;
  HkxPrint& _print; 
  const String _className;


  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:  
  HkxGroupPosControl(uint8_t length, HkxPosControl* arrayServos[], HkxPrint& print);
  
  HkxPosControl& getServo(uint8_t number){if(number < _length){return *_servos[number];}};

  uint8_t getNbServos(){return this->_length;};

  uint8_t setAllLoad(uint16_t newDeadZone, uint8_t newSaturatorOffset, const uint32_t& newSaturatorSlope, int8_t newPWMOffset, uint8_t newMinPWM, uint16_t newMaxPWM);


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

  uint8_t moveSyncAllPosition(int16_t destinationAngle[], uint16_t playTime, HkxMaybe<hkxLEDControl> LEDControl[], bool waitStop); 

  uint8_t moveAsyncAllPosition(int16_t destinationAngle[], uint16_t playTime[], HkxMaybe<hkxLEDControl> LEDControl[], bool waitStop); 


  void rebootAll(){
    for(int i=0 ; i < this->_length ; i++){
      this->_servos[i]->reboot();
    }
  };
};

#endif    // _HKXGROUPPOSCONTROL_H