vex_motorgroup.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2019, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_motorgroup.h                                            */
/*    Author:     James Pearman                                               */
/*    Created:    7 April 2019                                                */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_MOTOR_GROUP_CLASS_H
#define   VEX_MOTOR_GROUP_CLASS_H
 
/*-----------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------*/
 
namespace vex {
  
  class motor_group  {
    private:
      class  motor_group_impl;
      class  motor_group_motors {
        friend class vex::motor_group;
        private:
          #define  STATIC_MEMORY  8 // do not change
          uintptr_t _memory[STATIC_MEMORY];
          motor_group_impl  *pimpl;
        public:
          motor_group_motors();
          motor_group_motors(const motor_group_motors&);
          ~motor_group_motors();
      };
 
      int32_t             _timeout;
      motor_group_motors  _motors;
 
      void _addMotor();
      void _addMotor( vex::motor &m );
 
      template <typename... Args>
      void _addMotor(  vex::motor &m1, Args &... m2 ) {
         _addMotor( m1 );
         _addMotor( m2... );
      }
 
      bool waitForCompletionAll();
 
    public:      
      motor_group();
      ~motor_group();
      
      template <typename... Args>
      motor_group( vex::motor &m1, Args &... m2 ) : motor_group() {
        _addMotor( m1 );
        _addMotor( m2... );
      }
 
      template <typename... Args>
      void operator()( vex::motor &m1, Args &... m2 ) {
        _addMotor( m1 );
        _addMotor( m2... );
      }
 
      int32_t         count(void);
 
      void            setVelocity( double velocity, velocityUnits units );
 
      void            setVelocity( double velocity, percentUnits units ){
          setVelocity( velocity, static_cast<velocityUnits>(units) );
      };
 
      void            setStopping( brakeType mode );
 
      void            resetPosition( void );
 
      void            setPosition( double value, rotationUnits units );
 
      void            setTimeout( int32_t time, timeUnits units );
 
      void            spin( directionType dir );
 
      void            spin( directionType dir, double velocity, velocityUnits units );
 
      void            spin( directionType dir, double velocity, percentUnits units ){
          spin( dir, velocity, static_cast<velocityUnits>(units) );
      };
 
      void            spin( directionType dir, double voltage, voltageUnits units );
 
      bool            spinTo( double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
      bool            spinToPosition( double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      bool            spinTo( double rotation, rotationUnits units, bool waitForCompletion=true );
      bool            spinToPosition( double rotation, rotationUnits units, bool waitForCompletion=true );
 
 
      bool            spinFor( double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      bool            spinFor( directionType dir, double rotation, rotationUnits units, double velocity, velocityUnits units_v, bool waitForCompletion=true );
 
      bool            spinFor( double rotation, rotationUnits units, bool waitForCompletion=true );
 
      bool            spinFor( directionType dir, double rotation, rotationUnits units, bool waitForCompletion=true );
 
      void            spinFor( double time, timeUnits units, double velocity, velocityUnits units_v );
      
      void            spinFor( directionType dir, double time, timeUnits units, double velocity, velocityUnits units_v );
 
      void            spinFor( double time, timeUnits units );
      
      void            spinFor( directionType dir, double time, timeUnits units );
 
      bool            isSpinning( void );
 
      bool            isDone( void );      
 
      bool            isSpinningMode( void );
 
      void            stop( void );
 
      void            stop( brakeType mode );
 
      void            setMaxTorque( double value, percentUnits units );
 
      void            setMaxTorque( double value, torqueUnits units );
      
      void            setMaxTorque( double value, currentUnits units );
 
      directionType   direction( void );
 
      double          position( rotationUnits units );
 
      double          velocity( velocityUnits units );
 
      double          velocity( percentUnits units ) {
          return velocity( static_cast<velocityUnits>(units) );
      };
 
      double          current( currentUnits units = currentUnits::amp );
 
      double          current( percentUnits units );
 
      // these are all V5 compatibility functions and do not return any valid values
      // data from the motor for these is not available on IQ
      
      double          voltage( voltageUnits units = voltageUnits::volt );
 
      double          power( powerUnits units = powerUnits::watt );
 
      double          torque( torqueUnits units = torqueUnits::Nm );
 
      double          efficiency( percentUnits units = percentUnits::pct );
 
      double          temperature(  percentUnits units = percentUnits::pct );
 
      double          temperature( temperatureUnits units );
 
  };
}
 
#endif // VEX_MOTOR_GROUP_CLASS_H