vortex_80a_esc.hpp

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#ifndef FANG_ROBOTICS_MCB_DRIVER_MOTOR_VORTEX_80A_ESC_HPP
#define FANG_ROBOTICS_MCB_DRIVER_MOTOR_VORTEX_80A_ESC_HPP
#include "util/math/linear/cool_lerp.hpp"
#include "util/math/linear/vector_2d.hpp"
 
#include "driver/motor/data/directionality.hpp"
 
#include "wrap/trap/communication/pwm_data.hpp"
#include "wrap/units/units_alias.hpp"
 
#include "tap/communication/gpio/pwm.hpp"
 
namespace fang::motor
{
    class Vortex80AEsc
    {
    public:
        Vortex80AEsc(tap::gpio::Pwm& pwmDriver, const trap::gpio::PwmData& pwmData, const Directionality& directionality = Directionality::BIDIRECTIONAL);
        void sendArmingSignal();
        void armingRoutine();
        void setSpeed(double speedRangePercentage);
        void setPulseDuration(const Microseconds& duration);
        void setDirectionality(const Directionality& directionality);
        Directionality getDirectionality() const;
    private:
        //Maximum and minimum speed range percentages
        static constexpr double kBidirectionalMin_ {-1.0};
        static constexpr double kBidirectionalMax_ {1.0};
        static constexpr double kUnidirectionalMin_ {0.0};
        static constexpr double kUnidirectionalMax_ {1.0};
 
        static constexpr Microseconds kBidirectionalArmingSignal_{1500};
        static constexpr Microseconds kUnidirectionalArmingSignal_{1000};
        static constexpr Milliseconds kArmingPeriod_{500};
        //Map speed range percentage of -1.0 to 1000 us
        static constexpr math::CoolLerp::Vector2D kBidirectionalPoint1_{-1.0, 1000.0};
        //Map speed rnage percentage of 1.0 to 2000 us
        static constexpr math::CoolLerp::Vector2D kBidirectionalPoint2_{1.0, 2000.0};
 
        //Map speed range percentage of 0.0 to 1000 us
        static constexpr math::CoolLerp::Vector2D kUnidirectionalPoint1_{0.0, 1000.0};
        //Map speed rnage percentage of 1.0 to 2000 us
        static constexpr math::CoolLerp::Vector2D kUnidirectionalPoint2_{1.0, 2000.0};
 
        //Maps
        static const math::CoolLerp kBidirectionalMap_;
        static const math::CoolLerp kUnidirectionalMap_;
 
        tap::gpio::Pwm& pwmDriver_;
        trap::gpio::PwmData pwmData_;
        const Microseconds kCyclePeriod_;
        Directionality kDirectionality_;
 
        Microseconds calculateUnidirectionalPeriod(double speedRangePercentage) const;
        Microseconds calculateBidirectionalPeriod(double speedRangePercentage) const;
        Microseconds calculatePeriod (double speedRangePercentage) const;
        void pwmWrite(double dutyCycle);
    };
}
#endif