File evamForwardMotor.h

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#pragma once
#include <Arduino.h>

namespace evam
{
    struct ForwardConfig {
        int minValue;
        int maxValue;

        ForwardConfig(int minValue, int maxValue) : minValue(constrain(minValue, -1000, 1000)), maxValue(constrain(maxValue, -1000, 1000)) {}
    };

    template <class Driver, int kMinValue = 0, int kMaxValue = 1000>
    class ForwardMotor : public Driver
    {
        static_assert(kMinValue >= -1000 && kMinValue <= 1000, "kMinValue out of range");
        static_assert(kMaxValue >= -1000 && kMaxValue <= 1000, "kMaxValue out of range");

    private:
        ForwardConfig mConfig;

        signed short compute(signed short aLevel) const
        {
            if (aLevel > 0)
                return map(constrain(aLevel, 0, 1000), 0, 1000, mConfig.minValue, mConfig.maxValue);
            return 0;
        }

    public:
        ForwardMotor() : mConfig(kMinValue, kMaxValue) {}

        template<typename... Args>
        ForwardMotor(ForwardConfig config, Args... args) : Driver(args...), mConfig(config) {}

        void SetupRange(int minValue, int maxValue)
        {
            SetMinValue(minValue);
            SetMaxValue(maxValue);
        }

        void SetMinValue(int aValue)
        {
            mConfig.minValue = constrain(aValue, -1000, 1000);
        }

        int GetMinValue() const
        {
            return mConfig.minValue;
        }

        void SetMaxValue(int aValue)
        {
            mConfig.maxValue = constrain(aValue, -1000, 1000);
        }

        int GetMaxValue() const
        {
            return mConfig.maxValue;
        }

        void Go(signed short aLevel)
        {
            Driver::actUnipolar(compute(aLevel));
        }
    };
}