device/Motor.h

//
// Motor.h
//
// Copyright 2009 by Takashi Chikamasa, Jon C. Martin and Robert W. Kramer
//

#ifndef MOTOR_H_
#define MOTOR_H_

#include "Port.h"

extern "C"
{
        #include "ecrobot_interface.h"
        #include "rtoscalls.h"
};

namespace ecrobot
{
class Motor
{
public:
        static const S8 PWM_MAX = 100;
        
        static const S8 PWM_MIN = -100;

        explicit Motor(ePortM port, bool brake = true);

        ~Motor(void);

        inline void reset(void)
        {
                nxt_motor_set_speed(mPort, 0, 1); // need to set brake to stop the motor immidiately
                nxt_motor_set_count(mPort, 0);
        }

        inline S32 getCount(void) const { return nxt_motor_get_count(mPort); }

        inline void setCount(S32 count) { nxt_motor_set_count(mPort, count); }

        void setPWM(S8 pwm);

        void setBrake(bool brake);

protected:
        inline ePortM getPort(void) const { return mPort; }

        inline bool getBrake(void) const { return mBrake; }

        inline S8 getPWM(void) const { return mPWM; }

private:
   ePortM mPort;
        bool mBrake;
        S8 mPWM;
};
}

#endif