DomeDriveSerial.h

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#ifndef DomeDriveSerial_h
#define DomeDriveSerial_h
 
#include "ServoDispatch.h"
#include "drive/DomeDrive.h"
 
class DomeDriveSerial : public DomeDrive
{
public:
    DomeDriveSerial(Stream& stream, JoystickController& domeStick) :
        DomeDrive(domeStick),
        fSerial(&stream),
        fStopped(false)
    {
        setMaxSpeed(1.0f);
    }
 
    virtual void setup() override
    {
    }
 
    virtual void stop() override
    {
        if (!fStopped)
        {
           if (fSerial != nullptr)
               fSerial->println("~DOMESTOP");
           fStopped = true;
        }
        DomeDrive::stop();
    }
 
protected:
    Stream* fSerial;
    bool fStopped;
 
    virtual void motor(float m) override
    {
        if (fSerial != nullptr)
        {
            fSerial->print("~DOME");
            printNumZeroPad(unsigned(100+m*100));
            fSerial->println();
        }
        fStopped = false;
    }
 
    void printNumZeroPad(unsigned num)
    {
        if (num < 100)
            fSerial->print(0);
        if (num < 10)
            fSerial->print(0);
        fSerial->print(num);
    }
};
#endif