// AccurateMotor.h
/*
* 精确的电机驱动类，通过定时器中断的形式规避内置码盘不可靠的问题
*/

#ifndef _ACCURATEMOTOR_h
#define _ACCURATEMOTOR_h

#if defined(ARDUINO) && ARDUINO >= 100
	#include "arduino.h"
#else
	#include "WProgram.h"
#endif

#include <DCMotor.h>
#include <MsTimer2.h>

class AccurateMotorClass
{
private:
	bool car_running;
	const uint16_t car_speed = 50;
	const uint16_t car_slow_speed = 10;
	//const uint16_t car_turn_speed = 100;
	const uint16_t car_turn_speed = 97;
	const uint16_t turn_multplyer = 7;
	const uint16_t run_multplyer = 100;

private:
	static void SetCarRunning();
	static void SetCarNotRunning();

 public:
	void Init();
	bool IsCarRunning();
	void DelayUntilCarStop();

public:
	void ForceStop();
	void TurnLeft(uint8_t degree);
	void TurnRight(uint8_t degree);
	void RunForward(uint8_t distence);
	void RunBackward(uint8_t distence);
	void RunForwardSlow(uint8_t distence);
	void RunBackwardSlow(uint8_t distence);
};

extern AccurateMotorClass AccurateMotor;

#endif