MiniR4DC.h

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#ifndef MINIR4DC_H
#define MINIR4DC_H
 
#include "MMLower.h"
 
template<uint8_t ID> class MiniR4DC
{
public:
    MiniR4DC() { _id = ID; }
 
    bool begin(void)
    {
        MMLower::RESULT result  = mmL.SetDCMotorSpeedRange(_id, 0, 100);
        MMLower::RESULT result1 = mmL.SetEncoderResetCounter(_id);
        MMLower::RESULT result2 = mmL.SetDCMotorPower(_id, 0);
        MMLower::RESULT result3 = mmL.SetDCMotorDir(_id, MMLower::DIR::FORWARD);
 
        return (
            result == MMLower::RESULT::OK && result1 == MMLower::RESULT::OK &&
            result2 == MMLower::RESULT::OK && result3 == MMLower::RESULT::OK);
    }
 
    bool setReverse(bool dir)
    {
        MMLower::DIR    _dir        = (dir) ? MMLower::DIR::REVERSE : MMLower::DIR::FORWARD;
        MMLower::RESULT resultMotor = mmL.SetDCMotorDir(_id, _dir);
        // MMLower::RESULT resultEnc   = mmL.SetEncoderDir(_id, _dir);
        // return (resultMotor == MMLower::RESULT::OK && resultEnc == MMLower::RESULT::OK);
        return (resultMotor == MMLower::RESULT::OK);
    }
 
    bool setPower(int16_t power)
    {
        MMLower::RESULT result = mmL.SetDCMotorPower(_id, power);
        return (result == MMLower::RESULT::OK);
    }
 
    bool setSpeed(int16_t speed)
    {
        MMLower::RESULT result = mmL.SetDCMotorSpeed(_id, speed);
        return (result == MMLower::RESULT::OK);
    }
 
    bool rotateFor(int16_t speed, uint16_t degree)
    {
        MMLower::RESULT result = mmL.SetDCMotorRotate(_id, speed, degree);
        return (result == MMLower::RESULT::OK);
    }
 
    bool setFixSpeedPID(float kp, float ki, float kd)
    {
        MMLower::RESULT result = mmL.SetPIDParam(_id, 0, kp, ki, kd);
        return (result == MMLower::RESULT::OK);
    }
 
    bool setRotatePID(float kp, float ki, float kd)
    {
        MMLower::RESULT result = mmL.SetPIDParam(_id, 1, kp, ki, kd);
        return (result == MMLower::RESULT::OK);
    }
 
    int32_t getCounter(void)
    {
        int32_t         counter = 0;
        MMLower::RESULT result  = mmL.GetEncoderCounter(_id, counter);
        return counter;
    }
 
    int32_t getDegrees(void)
    {
        int32_t         counter = 0;
        MMLower::RESULT result  = mmL.GetEncoderCounter(_id, counter);
        return (int32_t)((double)counter / 545 * 360);
    }
 
    bool resetCounter(void)
    {
        MMLower::RESULT result = mmL.SetEncoderResetCounter(_id);
        return (result == MMLower::RESULT::OK);
    }
 
    bool setBrake(bool brake)
    {
        if (brake) {
            MMLower::RESULT result = mmL.SetDCBrake(_id);
            return (result == MMLower::RESULT::OK);
        } else {
            MMLower::RESULT result = mmL.SetDCMotorSpeed(_id, 0);
            return (result == MMLower::RESULT::OK);
        }
    }
 
    bool ChkRotateEnd(bool& isEnd)
    {
        MMLower::RESULT result = mmL.GetRotateState(_id, isEnd);
        return (result == MMLower::RESULT::OK);
    }
 
private:
    uint8_t _id;
};
 
#endif   // MINIR4DC_H