DCMotor.h

#ifndef ROBOBO_MOTOR_INCLUDED
#define ROBOBO_MOTOR_INCLUDED

#include "Arduino.h"
#include "MotorI.h"
#include "ActiveObject.h"
#include "ControlStrategy.h"
#include "PID.h"


class DCMotor : public ActiveObject,  public MotorI
{
    public:
        void setPinModes();

        void reset();

        DCMotor(    uint8_t encoderAPinV, 
                    uint8_t encoderBPinV, 
                    uint8_t hBridgeAPinV,
                    uint8_t hBridgeBPinV,
                    uint8_t voltagePinV,
                    ControlStrategy *strategy);

        // Pins
        uint8_t encoderAPin;
        uint8_t encoderBPin;
        uint8_t hBridgeAPin;
        uint8_t hBridgeBPin;
        uint8_t voltagePin;

        // State
        uint8_t encoderAVal;
        uint8_t encoderBVal;
        uint8_t encoderAPrevVal;
        uint8_t encoderBPrevVal;
        int32_t encoderPosition;
        int32_t requestedPosition;
        int8_t  direction;
        
        // PID Controller parameters
        float kP;
        float kI;
        int32_t integral;

        // Interface functions
        void setPosition(int32_t);
        int32_t getPosition();
        void stop(void);
        void enableReports(TickType_t period);

        // these methods are to run in timer expiration
        void reportMethod(void);
        void updateControl(void);

        void encoderInterrupt(void);

    private:

        ControlStrategy *control;
    
        void calculatePID(void);
        void setDirectionRight(void);
        void setDirectionLeft(void);
        void setVoltage(uint8_t val);


        TimerHandle_t triggerTimer;
        TimerHandle_t reportTimer;

    friend int main(void);

};

#endif