Motor.h

//
// Motor.h
//
// Copyright (c) 2015-2016 Embedded Technology Software Design Robot Contest
//

#ifndef EV3CPPAPI_MOTOR_H_
#define EV3CPPAPI_MOTOR_H_

#include "Port.h"
#include "ev3api.h"

namespace ev3api {
class Motor
{
public:
    friend class Steering;

    static const int PWM_MAX = 100;

    static const int PWM_MIN = -100;

    explicit Motor(ePortM port, bool brake = true, motor_type_t type = LARGE_MOTOR);

    ~Motor(void);

    inline void reset(void)
    {
        ev3_motor_stop(mPort, true); // need to set brake to stop the motor immidiately
        ev3_motor_reset_counts(mPort);
        mOffset = 0;
    }

    inline int32_t getCount(void) const { return ev3_motor_get_counts(mPort) - mOffset; }

    inline void setCount(int32_t count) { mOffset = ev3_motor_get_counts(mPort) - count; }

    void setPWM(int pwm);

    void setBrake(bool brake);

    inline void stop() { (void)ev3_motor_stop(mPort, mBrake); }

protected:
    inline motor_port_t getPort(void) const { return mPort; }

    inline bool getBrake(void) const { return mBrake; }

    inline int getPWM(void) const { return mPWM; }

private:
    motor_port_t mPort;
    bool mBrake;
    motor_type_t mType;
    int mPWM;
    int32_t mOffset;
}; // class Motor
}  // namespace ev3api

#endif // ! EV3CPPAPI_MOTOR_H_