MeEncoderMotor.h

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#ifndef MeEncoderMotor_h
#define MeEncoderMotor_h
 
#include <stdbool.h>
#include "MeConfig.h"
#include "MePort.h"
 
class MeEncoderMotor: public MePort{
public:
  MeEncoderMotor(uint8_t addr,uint8_t slot);
 
  MeEncoderMotor(uint8_t slot);
 
  MeEncoderMotor();
 
  void begin();
 
  boolean reset();
 
  boolean move(float angle, float speed);
 
  boolean moveTo(float angle, float speed);
 
  boolean runTurns(float turns, float speed);
 
  boolean runSpeed(float speed);
 
  boolean runSpeedAndTime(float speed, float time);
 
  float getCurrentSpeed();
 
  float getCurrentPosition();
 
private:
  void request(byte *writeData, byte *readData, int wlen, int rlen);
 
  uint8_t _slot;    
  uint8_t _slaveAddress;
  unsigned long _lastTime;
};
#endif