vnh2sp30.h

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#ifndef libpropeller_vnh2sp30_h__
#define libpropeller_vnh2sp30_h__

#include "pwm32/pwm32.h"
#include "pwm2/pwm2.h"

#include "pin/pin.h"

class vnh2sp30 {
public:

    vnh2sp30() {
        pwm32 = NULL;
        pwm2 = NULL;
        channel = NONE;
    }

    ~vnh2sp30() {
        SetPower(0);
        waitcnt(CLKFREQ / 10 + CNT);
        inA.input();
        inB.input();
        pwmPin.input();
    }

    

    enum Direction {
        FORWARD, REVERSE
    };

    enum PwmChannel {
        NONE, X, Y
    };

    void Init(PWM32 * new_pwm, const int new_pwmPin, const int inApin, const int inBpin) {
        inA = Pin(inApin);
        inB = Pin(inBpin);
        pwmPin = Pin(new_pwmPin);

        inA.low();
        inB.low();
        pwmPin.low();

        pwm32 = new_pwm;

        SetDirection(FORWARD);
        SetPower(0);
    }

    void Init(PWM2 * new_pwm, const PwmChannel new_channel, const int new_pwmPin, const int inApin, const int inBpin) {
        inA = Pin(inApin);
        inB = Pin(inBpin);
        pwmPin = Pin(new_pwmPin);

        inA.low();
        inB.low();
        pwmPin.low();


        pwm2->SetFrequency(kFrequency);

        pwm2 = new_pwm;
        channel = new_channel;

        if (channel == X) {
            pwm2->SetPinX(pwmPin.getPin());
        } else if (channel == Y) {
            pwm2->SetPinY(pwmPin.getPin());
        }

        SetDirection(FORWARD);
        SetPower(0);
    }
    
    
    void Set(const int power){
        if(power < 0){
            SetDirection(REVERSE);
            SetPower(-power);
        }else{
            SetDirection(FORWARD);
            SetPower(power);
        }
    }

    void Set(const Direction direction, const int power) {
        SetDirection(direction);
        SetPower(power);
    }

    
    void SetPower(const int power) {
        int adjustedSpeed;
        if (power < 0) {
            adjustedSpeed = 0;
        } else if (power > 100) {
            adjustedSpeed = 100;
        } else {
            adjustedSpeed = power;

        }

        if (pwm32 != NULL) {
            SetSpeedPwm32(adjustedSpeed);
        } else if (pwm2 != NULL) {
            SetSpeedPwm2(adjustedSpeed);
        }
    }

    
    void SetDirection(const Direction direction) {
        if (direction == FORWARD) {
            inA.high();
            inB.low();
        } else { //REVERSE
            inA.low();
            inB.high();
        }
    }

private:

    Pin inA, inB, pwmPin;
    PWM32* pwm32;
    PWM2* pwm2;

    PwmChannel channel;

    static const int kFrequency = 1000;


    static const int kResolution = 10;
    static const int kScale = 2147483647 / (1 << (kResolution - 1));

    void SetSpeedPwm2(const int speed) {

        if (channel == X) {
            pwm2->SetDutyX(speed);
        } else if (channel == Y) {
            pwm2->SetDutyY(speed);
        }
    }

    void SetSpeedPwm32(const int speed) {
        pwm32->Duty(pwmPin.getPin(), speed, 1000000 / kFrequency);
    }












};

#endif // libpropeller_vnh2sp30_h__