motors.hpp

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/*
 * motors.hpp
 *
 *  Created on: Nov 6, 2015
 *      Author: Joshua Southerland
 */

#ifndef INCLUDE_WALLABY_MOTORS_HPP_
#define INCLUDE_WALLABY_MOTORS_HPP_

class Motor
{
public:
        Motor (int port);

        void clearPositionCounter();

        void moveAtVelocity(short velocity);
        void moveToPosition(short speed, int goalPos);
        void moveRelativePosition(short speed, int deltaPos);

#ifndef SWIG
        void setPidGains(short p, short i, short d, short pd, short id, short dd);
        void pidGains(short & p, short & i, short & d, short & pd, short & id, short & dd);
#endif

        void freeze();

        bool isMotorDone() const;

        void blockMotorDone() const;

        void forward();

        void backward();

        void motor(int percent);

        void motorPower(int percent);

        void off();

        int port() const;

private:
        int m_port;
};


class BackEMF
{
public:
        BackEMF(int port);
        int value() const;
        int port () const;
private:
        int m_port;
};


#endif /* INCLUDE_WALLABY_MOTORS_HPP_ */