motors.h

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/*
Copyright (C) 2017 Michael Brookes

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program 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 General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef BEAGLEBONE_MOTOR_MOTORS_H
#define BEAGLEBONE_MOTOR_MOTORS_H

#include "../pwmDevice.h"
#include <string>

namespace quadro {

    namespace pwm {

        class motors : public pwmDevice {

        public:
            motors() { };

            motors( pinBlocks _block, PWMPins _pin );

            void setTargetSpeed( long _targetSpeed );

            void reversePolarity();

            void start();

            void stop();

            long currentDuty; 
            long currentPeriod; 
            int currentRun; 
            int currentPolarity; 

        protected:

            long getMaxSpeed();

            long getMinSpeed();

            int getSpeedStep();

            void setMaxSpeed( long _maxSpeed );

            void setMinSpeed( long _minSpeed );

            void setSpeedStep( int _speedStep );

        private:

            enum status {
                On = 1, 
                Off = 0, 
                Error = 3 
            };

            enum polarity {
                Negative = 0, 
                Positive = 1 
            };

            void setStatus( status _status );

            void increaseSpeed( unsigned short _SpeedMod = 250 );

            void decreaseSpeed( unsigned short _SpeedMod = 250 );

            static void* maintainTargetSpeed( void* );

            pthread_t threadHandle; 
            int threadRet; 
            int speedStep; 

            long targetSpeed; 
            long maxSpeed; 
            long minSpeed; 

            status Status; 
        };

    }

}

#endif //BEAGLEBONE_MOTOR_MOTORS_H