VMXTeddy.h

/* ============================================
VMX-pi HAL source code is placed under the MIT license
Copyright (c) 2017 Kauai Labs
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
===============================================
*/

#ifndef VMXTEDDY_H_
#define VMXTEDDY_H_

#include <stdint.h>
#include "VMXErrors.h"

class TEDDYClient;

class VMXTeddy {
    friend class VMXPi;
    friend class VMXZero;

    TEDDYClient& teddy;

    VMXTeddy(TEDDYClient& teddy);
    void ReleaseResources();
    virtual ~VMXTeddy();

public:

    typedef enum {
        Disabled,
        Velocity,
        Distance
    } PIDControlMode;

    bool GetMotorControl(uint8_t motor, bool& active, bool& brake, bool& invert_output, bool& invert_encoder, VMXErrorCode *errcode);
    bool SetMotorControl(uint8_t motor, bool active, bool brake, bool invert_output, bool invert_encoder, VMXErrorCode *errcode);   

    bool GetMotorOutputLevel(uint8_t motor, float& output_level, VMXErrorCode *errcode);
    bool SetMotorOutputLevel(uint8_t motor, float output_level, VMXErrorCode *errcode);
    
    bool GetMotorCurrent(uint8_t motor, float& current, VMXErrorCode *errcode);

    bool GetRelayState(uint8_t motor, bool &closed, VMXErrorCode *errcode);
    bool SetRelayState(uint8_t motor, bool closed, VMXErrorCode *errcode);

    bool GetLEDState(uint8_t led, bool &on, VMXErrorCode *errcode);
    bool SetLEDState(uint8_t led, bool on, VMXErrorCode *errcode);
    
    bool GetButtonState(uint8_t button, bool& pressed, VMXErrorCode *errcode);
    
    // PID Controller
    bool GetPIDControl(uint8_t motor, PIDControlMode& mode, bool& reset_count_on_distance, VMXErrorCode *errcode);
    bool SetPIDControl(uint8_t motor, PIDControlMode mode, bool reset_count_on_distance, VMXErrorCode *errcode);    
    
    bool GetPIDState(uint8_t motor, bool& active, bool& on_target, bool& encoder_allocated, VMXErrorCode *errcode);
    
    bool GetPIDP(uint8_t motor, float& coefficient, VMXErrorCode *errcode);
    bool SetPIDP(uint8_t motor, float coefficient, VMXErrorCode *errcode);
    
    bool GetPIDI(uint8_t motor, float& coefficient, VMXErrorCode *errcode);
    bool SetPIDI(uint8_t motor, float coefficient, VMXErrorCode *errcode);          
    
    bool GetPIDD(uint8_t motor, float& coefficient, VMXErrorCode *errcode);
    bool SetPIDD(uint8_t motor, float coefficient, VMXErrorCode *errcode);          
    
    bool GetPIDF(uint8_t motor, float& coefficient, VMXErrorCode *errcode);
    bool SetPIDF(uint8_t motor, float coefficient, VMXErrorCode *errcode);  
    
    bool GetPIDTolerance(uint8_t motor, float& tolerance_epsilon, VMXErrorCode *errcode);
    bool SetPIDTolerance(uint8_t motor, float tolerance_epsilon, VMXErrorCode *errcode);            

};

#endif /* VMXPOWER_H_ */