Actuator.h

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//
// Created by noeel on 27-3-19.
//

#ifndef ARUNA_MOVEMENTACTUATOR_H
#define ARUNA_MOVEMENTACTUATOR_H

#include "aruna/arunaTypes.h"
#include "aruna/movement/movementTypes.h"

namespace aruna {
    namespace movement {

        class Actuator {
        protected:


            static double convert_range(uint16_t input, float range_max = 100.f, float range_min = 0.f);

        private:
            axis_mask_t axis = axis_mask_t::NONE;
            int16_t speed = 0;

            virtual err_t _set(axis_mask_t axisMask, int16_t speed) = 0;


        public:
            err_t startup_error = err_t::NOT_STARTED;

//             TODO explicit?
            Actuator(axis_mask_t axis = axis_mask_t::NONE);

            virtual ~Actuator();



            err_t set_axis(axis_mask_t new_axis);

            axis_mask_t get_axis();

            err_t set(axis_mask_t axisMask, int16_t speed);

            uint16_t get_speed();





        };
    }
}

#endif //ARUNA_MOVEMENTACTUATOR_H