MotorController.h

/****************************************************************************************
Nom du fichier : MotorControllerler.h
Auteur : Mathieu Durand      
Date de création : 11 juillet 2024
 
****************************************************************************************/
 
#ifndef MOTOR_CONTROLLER_H
#define MOTOR_CONTROLLER_H
 
#include "ArduinoX/ArduinoX.h"
#include "PidLayer.h"
 
#define DEFAULT_GEAR_BOX_RATIO 1
#define DEFAULT_ENCODER_TICK_PER_TURN 1
#define DEFAULT_CONVERTION_RATIO 1
#define DEFAULT_LAYER MOTOR
 
class MotorController
{
    public:
        MotorController(ArduinoX* arduinoX, PidLayer layer, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn, double convertionRatio);
        
        MotorController(ArduinoX* arduinoX, PidLayer layer, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn);
        
        MotorController(ArduinoX* arduinoX, PidLayer layer, int motorID, int encoderID, double encoderTickPerTurn);
        
        MotorController(ArduinoX* arduinoX, PidLayer layer, int motorID, int encoderID);
 
        MotorController(ArduinoX* arduinoX, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn, double convertionRatio);
        
        MotorController(ArduinoX* arduinoX, int motorID, int encoderID, double gearBoxRatio, double encoderTickPerTurn);
        
        MotorController(ArduinoX* arduinoX, int motorID, int encoderID, double encoderTickPerTurn);
        
        MotorController(ArduinoX* arduinoX, int motorID, int encoderID);
 
        void setMotorID(int motorID);
 
        int getMotorID();
 
        void setEncoderID(int encoderID);
 
        int getEncoderID();
 
        void setLayer(PidLayer layer);
 
        PidLayer getLayer();
 
        void setGearBoxRatio(double gearBoxRatio);
 
        double getGearBoxRatio();
 
        void setEncoderTickPerTurn(double encoderTickPerTurn);
 
        double getEncoderTickPerTurn();
 
        void setConversionRatio(double convertionRatio);
 
        double getConversionRatio();
 
        double measurementFunction();
 
        void commandFunction(double command);
 
        static double wheelRatio(double diameter);
 
        static double degreesRatio();
 
        static double radiansRatio();
 
        static double turnRatio();
 
    private:
        double getFirstConversionStage();
 
        double getLastConversionStage();
 
    private:
        double gearBoxRatio;               
        double encoderTickPerTurn;         
        double convertionRatio;            
        int motorID;                       
        int encoderID;                     
        PidLayer layer;                    
        ArduinoX* arduinoX;                
};
 
#endif // MOTOR_CONTROLLER_H