MinumelArmMCU/RangedMotor.hpp

#pragma once

// Abstract class
class RangedMotor
{
public:
    RangedMotor(
        const float gearboxRatio,
        const float scaleCalibration,
        const float zeroOffset,
        const float minSafeAngle,
        const float maxSafeAngle
    ) noexcept;

    virtual bool moveTo(const float target) noexcept;
    virtual float getPosition() const noexcept;

    float getGearboxRatio() const noexcept;
    float getScaleCalibration() const noexcept;
    float getZeroOffset() const noexcept;
    float getSafeMinAngle() const noexcept;
    float getSafeMaxAngle() const noexcept;
    float getSafeHardwareMinAngle() const noexcept;
    float getSafeHardwareMaxAngle() const noexcept;

    void setGearboxRatio(float gearboxRatio) noexcept;
    void setScaleCalibration(float scaleCalibration) noexcept;
    void setZeroOffset(float zeroOffset) noexcept;
    void setSafeMinAngle(float safeMinAngle) noexcept;
    void setSafeMaxAngle(float safeMaxAngle) noexcept;
    void setSafeHardwareMinAngle(float safeHardwareMinAngle) noexcept;
    void setSafeHardwareMaxAngle(float safeHardwareMaxAngle) noexcept;


    // Will translate virtual-space-angles to hardware-space-angles
    float virtualAngleToHardwareAngle(float virtualAngle) const noexcept;
    // Will translate hardware-space-angles to virtual-space-angles
    float hardwareAngleToVirtualAngle(float hardwareAngle) const noexcept;

    // Calculates a command-space scale compensation factor.
    // The returned value is multiplied with virtual angle so that
    // the motors actual movement matches the intended movement.
    static float calculateScaleCalibration(const float virtualRange, const float hardwareRange);

protected:
    float gearboxRatio;      // Gearbox ratio
    float scaleCalibration;  // Scale calibration
    float zeroOffset;        // Zero offset calibration
    float safeHardwareMinAngle; // Absolute hardware space minimum
    float safeHardwareMaxAngle; // Absolute hardware space maximum
};