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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file MotorControl.h
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 * @brief Contains motor declarations and functions
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 * 
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 * Contains functions and definitions for the use of
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 * motors
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Ben Wasserman
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 * @author Alex Zirbel
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 **/
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#ifndef _MOTOR_CONTROL_H_
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#define _MOTOR_CONTROL_H_
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#include <ros/ros.h>
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#include <motors/query_motors.h>
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#include <motors/set_motors.h>
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#include "constants.h"
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/* Motor-specific defines */
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#define MOTOR_ALL 0xF
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#define MOTOR_ALL_REV 0xF0
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#define MOTOR_NONE 0x0
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#define MOTOR_FL 0x8
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#define MOTOR_FR 0x4
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#define MOTOR_BL 0x2
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#define MOTOR_BR 0x1
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#define MOTOR_FL_REV 0x80
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#define MOTOR_FR_REV 0x40
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#define MOTOR_BL_REV 0x20
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#define MOTOR_BR_REV 0x10
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#define MOTOR_FRONT MOTOR_FL | MOTOR_FR
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#define MOTOR_BACK MOTOR_BR | MOTOR_BR
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#define MOTOR_LEFT MOTOR_FL | MOTOR_BL
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#define MOTOR_RIGHT MOTOR_FR | MOTOR_BR
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#define MOTOR_LEFT_REV MOTOR_FL_REV | MOTOR_BL_REV
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#define MOTOR_RIGHT_REV MOTOR_FR_REV | MOTOR_BR_REV
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#define MOTOR_LEFT_SPIN MOTOR_LEFT_REV | MOTOR_RIGHT
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#define MOTOR_RIGHT_SPIN MOTOR_LEFT | MOTOR_RIGHT_REV
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#define MAXSPEED_ABS 127.0f
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#define MAXSPEED_MPS 1.0f
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#define MOTOR_PERCENT 'p'
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#define MOTOR_MMS 'm'
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#define MOTOR_CMS 'c'
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#define MOTOR_ABSOLUTE 'a'
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#define MOTOR_DEFAULT_UNIT MOTOR_PERCENT
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class MotorControl
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{
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    public:
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        /** Set up the motor node and prepare to communicate over ROS */
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        MotorControl(const ros::NodeHandle& libscout_node,
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                     std::string scoutname);
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        ~MotorControl();
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        /** Uses which to specify what to change, and sets all to same speed */
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        void set(int which, float speed, char units=MOTOR_DEFAULT_UNIT);
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        /** Sets each side to a different speed */
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        void set_sides(float speed_l, float speed_r,
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                     char units=MOTOR_DEFAULT_UNIT);
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        /** Sets each motor speed individually */
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        void set_each(int which,
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                    float speed_fl, float speed_fr,
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                    float speed_bl, float speed_br,
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                    char units=MOTOR_DEFAULT_UNIT);
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        /** Requests the current motor speeds */
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        float query(int which);
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    private:
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        /** Error if which sets a motor to both forward and backward */
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        void check_which_ok(int which);
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        int trim_speed(std::string which_str, int speed);
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        float rel_to_abs(float rel_speed, int units);
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        float abs_to_rel(float abs_speed, int units);
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        /* Absolute speeds, but allowing fractions. Useful for PID, etc. */
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        float motor_fl_speed;
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        float motor_fr_speed;
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        float motor_bl_speed;
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        float motor_br_speed;
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        /** ROS publisher and client declaration */
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        ros::Publisher set_motors_pub;
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        ros::ServiceClient query_motors_client;
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        ros::NodeHandle node;
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};
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#endif