JointController.h

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#pragma once

#ifndef PLEN2_JOINT_CONTROLLER_H
#define PLEN2_JOINT_CONTROLLER_H


#include <stdint.h>

#include "BuildConfig.h"

namespace PLEN2
{
    class JointController;
}

class PLEN2::JointController
{
public:
    enum JOINT_INDEX
    {
        LEFT_SHOULDER_PITCH  = 0,
        LEFT_THIGH_YAW       = 1,
        LEFT_SHOULDER_ROLL   = 2,
        LEFT_ELBOW_ROLL      = 3,
        LEFT_THIGH_ROLL      = 4,
        LEFT_THIGH_PITCH     = 5,
        LEFT_KNEE_PITCH      = 6,
        LEFT_FOOT_PITCH      = 7,
        LEFT_FOOT_ROLL       = 8,
        RIGHT_SHOULDER_PITCH = 12,
        RIGHT_THIGH_YAW      = 13,
        RIGHT_SHOULDER_ROLL  = 14,
        RIGHT_ELBOW_ROLL     = 15,
        RIGHT_THIGH_ROLL     = 16,
        RIGHT_THIGH_PITCH    = 17,
        RIGHT_KNEE_PITCH     = 18,
        RIGHT_FOOT_PITCH     = 19,
        RIGHT_FOOT_ROLL      = 20
    };

    enum BASIC_JOINT_SETTINGS
    {
        JOINTS_SUM = 24, 

        #if TARGET_PLEN14
            ANGLE_MIN     = -600, 
            ANGLE_MAX     =  600, 
            ANGLE_NEUTRAL =    0  
        #endif

        #if TARGET_PLEN20
            ANGLE_MIN     = -900, 
            ANGLE_MAX     =  900, 
            ANGLE_NEUTRAL =    0  
        #endif
    };

private:
    enum { INIT_FLAG_ADDRESS = 0 };

    enum { INIT_FLAG_VALUE = 3 };

    enum { SETTINGS_HEAD_ADDRESS = 1 };

    class JointSetting
    {
    public:
        int16_t MIN;  
        int16_t MAX;  
        int16_t HOME; 

        JointSetting()
            : MIN(ANGLE_MIN)
            , MAX(ANGLE_MAX)
            , HOME(ANGLE_NEUTRAL)
        {
            // noop.
        }
    };

    JointSetting m_SETTINGS[JOINTS_SUM];

public:
    class Multiplexer
    {
    public:
        enum { SUM = 3 };

        enum { SELECTABLE_LINES = 8 };
    };

    #if TARGET_PLEN14
        enum { PWM_MIN = 492 };

        enum { PWM_MAX = 816 };

        enum { PWM_NEUTRAL = 654 };
    #endif

    #if TARGET_PLEN20
        enum { PWM_MIN = 410 };

        enum { PWM_MAX = 884 };

        enum { PWM_NEUTRAL = 647 };
    #endif

    volatile static bool m_1cycle_finished;

    static uint16_t m_pwms[JOINTS_SUM];

    JointController();

    void loadSettings();

    void resetSettings();

    const int16_t& getMinAngle(uint8_t joint_id);

    const int16_t& getMaxAngle(uint8_t joint_id);

    const int16_t& getHomeAngle(uint8_t joint_id);

    bool setMinAngle(uint8_t joint_id, int16_t angle);

    bool setMaxAngle(uint8_t joint_id, int16_t angle);

    bool setHomeAngle(uint8_t joint_id, int16_t angle);

    bool setAngle(uint8_t joint_id, int16_t angle);

    bool setAngleDiff(uint8_t joint_id, int16_t angle_diff);

    void dump();
};

#endif // PLEN2_JOINT_CONTROLLER_H