/home/swerve/Github/sdc_2018/omni_robot/Motor.h

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#ifndef MOTOR_H_
#define MOTOR_H_

#include <Encoder.h> // Teensy Encoder library
#include <Servo.h>   // Teensy Servo library
// #include <PWMServo.h>

// #include "Sensor.h"  // Sensor class

#define MOTOR_TYPE_DC    1
#define MOTOR_TYPE_BLDC  2
#define MOTOR_TYPE_SERVO 3

#define MOTOR_TYPE_MIN 1
#define MOTOR_TYPE_MAX 3

#define MOTOR_FORWARD  1
#define MOTOR_BRAKE    0
#define MOTOR_REVERSE -1

#define MOTOR_SPEED_MIN   0
#define MOTOR_SPEED_MAX 100

#define MOTOR_PWM_MIN    0
#define MOTOR_PWM_MAX  255
#define MOTOR_PPM_MIN 1200
#define MOTOR_PPM_MAX 1800
#define MOTOR_PPM_OFF 1500

#define ESC_ARM_DELAY 10

#define NO_ENCODER_PIN -1 // pin to supply encoder class if not using it

struct MotorState {
  int type;  // motor type
  int speed; // value between 0 and 100
  int direction;
};

struct MotorPins {
  int PIN_PWM;
  int PIN_A;
  int PIN_B;
};

class Motor {
public:

  bool ready = false;

  /* Constructor Functions */
  Motor(int, int, int pin_a = 0, int pin_b = 0);
  Motor(int, int, int, int, int, int);
  /* Public Functions */
  int setupMotor(int, int, int pin_a = 0, int pin_b = 0);
  void run(int);
  long getPosition(void);
  double getCurrentUsage(void);

protected:
  
  /* Protected Variables */
  MotorState state;
  MotorPins  pins;

  bool ENCODER_SETUP        = false;
  bool CURRENT_SENSOR_SETUP = false;

private:

  /* Provate Variables */
  Servo   _servo;
  Encoder _encoder;
  // Sensor  _current_sensor;

  // volatile int _servo_update_it;

  /* Private Functions */
  void _setupDCMotor(int, int);
  void _setupBLDCMotor(void);
  void _runDCMotor(int);
  void _runBLDCMotor(int);
  void _runServoMotor(int);
  String _getMotorTypeName(void);
};

#endif /* MOTOR_H_ */