MCChannelController.h

Go to the documentation of this file.

#pragma once
 
#include <Arduino.h>
 
#include "MCChannelConfig.h"
 
// Channel controller
class MCChannelController
{
  public:
    MCChannelController(MCChannelConfig *config);
 
    // Returns the current hub led color.
    HubLedColor GetHubLedColor();
 
    // Sets a new hub led color.
    void SetHubLedColor(HubLedColor color);
 
    // Returns the device attached to the channel.
    DeviceType GetAttachedDevice();
 
    // Returns the channel controlled by this controller.
    MCChannel *GetChannel();
 
    // Set the min pwr percentage. When a pwr percentage is set below this value, we either set current pwr to zero (when decreasing power) or to the given value (when increasing power).
    void SetMinPwrPerc(int16_t minPwrPerc);
 
    // Gets the current target pwr percentage (sign indicates direction: >0: forward, <0: backwards).
    int16_t GetTargetPwrPerc();
 
    // Sets a new target pwr percentage (sign indicates direction: >0: forward, <0: backwards).
    void SetTargetPwrPerc(int16_t targetPwrPerc);
 
    // Returns the current pwr percentage (sign indicates direction: >0: forward, <0: backwards).
    int16_t GetCurrentPwrPerc();
 
    // Sets the current pwr percentage (directly) to the specified value (sign indicates direction: >0: forward, <0: backwards).
    void SetCurrentPwrPerc(int16_t currentPwrPerc);
 
    // Updates the current pwr percentage one step towards the target pwr (to be used in a loop).
    bool UpdateCurrentPwrPerc();
 
    // Returns the absolute current pwr percentage (no direction indication).
    uint8_t GetAbsCurrentPwrPerc();
 
    // Returns a boolean value indicating whether we're driving forward or not.
    bool IsDrivingForward();
 
    void Blink();
 
    // Sets the current manual brake status.
    void ManualBrake(bool enabled);
 
    // Sets the current e-brake status.
    void EmergencyBrake(bool enabled);
 
  private:
    // Returns a boolean value indicating whether the channel is currently accelarating in either direction.
    bool isAccelarating();
 
    // Returns a boolean value indicating whether the channel has reached its target pwr percentage.
    bool isAtTargetPwrPerc();
 
    // Return the normalized pwr value, bounded by the min and max channel pwr.
    int16_t normalizePwrPerc(int16_t pwrPerc);
 
    // Reference to the configuration of the channel controlled by this channel controller.
    MCChannelConfig *_config;
 
    bool _mbrake;
    bool _ebrake;
    ulong _blinkUntil;
    unsigned long _lastUpdate = 0;
    int16_t _minPwrPerc;
    int16_t _targetPwrPerc;
    int16_t _currentPwrPerc;
    HubLedColor _hubLedColor = HubLedColor::BLACK; // off
 
    // The following (derived) class can access private members of MCChannelController.
    friend class BLEHubChannelController;
    friend class MCPinController;
};