ActuatorSet.h

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//
// Created by noeel on 30-07-19.
//

#ifndef ARUNA_ACTUATORSET_H
#define ARUNA_ACTUATORSET_H

#include <aruna.h>
#include "Actuator.h"

namespace aruna {
    namespace movement {
        class ActuatorSet : public Actuator {
        private:
            err_t _set(axis_mask_t axisMask, int16_t speed) override;
        public:
            struct transform_t {
                Actuator *driver;

                axis_mask_t transform_to;

                bool flip_direction;

                axis_mask_t axis;

                float speed_percentage;
//                  TODO make speed_percentage optional
            };


            ActuatorSet(transform_t *transform, size_t transform_size);


        private:
            transform_t *transform;
            const size_t transform_size;
            static aruna::log::channel_t log;

            axis_mask_t compute_axis();


            err_t err_check();
        };
    }
}
#endif //ARUNA_ACTUATORSET_H