/*
 *  StepperDevice.cpp
 *  FirmwareRefactorPrep
 *
 *  Created by Lou Amadio on 2/24/09.
 *  Copyright 2009 OoeyGUI. All rights reserved.
 *
 */
#include "WProgram.h"
#include "Collections.h"
#include "Device.h"
#include "Observable.h"
#include "EventLoop.h"
#include "StepperDevice.h"

#define FORWARD HIGH
#define BACKWARD LOW

StepperDevice::StepperDevice(int8_t stepPin, int8_t dirPin,	int ticksPerRev, milliclock_t rate)
: EventLoopTimer(rate)
, _stepPin(stepPin)
, _dirPin(dirPin)
, _ticksPerRev(ticksPerRev)
, _currentTick(0)
, _targetTick(0)
{
	pinMode(stepPin, OUTPUT);
	pinMode(dirPin, OUTPUT);
	
}

void StepperDevice::start()
{
	if (_currentTick)
	{
		_currentTick = _targetTick = 0;
		notifyObservers(StepperEvent_Start, this);
		EventLoop::current()->addTimer(this);
	}
}

void StepperDevice::stop()
{
	if (_currentTick)
	{
		_currentTick = 0;
		notifyObservers(StepperEvent_Stop, this);
		EventLoop::current()->removeTimer(this);
	}
}

void StepperDevice::goForward()
{
	stop();
	digitalWrite(_dirPin, FORWARD);
}

void StepperDevice::goBackward()
{
	stop();
	digitalWrite(_dirPin, BACKWARD);
}

void StepperDevice::turn(float numberOfRevolutions)
{
	if (_currentTick)
	{
		stop();
	}
	
	_targetTick = (int)(numberOfRevolutions / _ticksPerRev);

	notifyObservers(StepperEvent_Start, this);
	EventLoop::current()->addTimer(this);
}

void StepperDevice::fire()
{
	digitalWrite(_stepPin, HIGH);
	delay(5);
	digitalWrite(_stepPin, LOW);
	++_currentTick;
	
	if (_currentTick == _targetTick)
	{
		notifyObservers(StepperEvent_Complete, this);
		stop();
	}
}