StealthController.h

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#ifndef StealthController_h
#define StealthController_h
 
#include "ReelTwo.h"
#include "core/SetupEvent.h"
#include "core/AnimatedEvent.h"
#include <Wire.h>
 
class StealthController :
    public SetupEvent, AnimatedEvent
{
public:
    const byte S1_FLAG = 1<<0;
    const byte S2_FLAG = 1<<1;
    const byte J1_FLAG = 1<<2;
    const byte J2_FLAG = 1<<3;
    const byte LEGMOTORS_FLAG = 1<<4;
    const byte DOMEMOTOR_FLAG = 1<<5;
 
    StealthController(
            const byte pinS1 = 26,
            const byte pinJ1 = 28,
            const byte pinS2 = 27,
            const byte pinJ2 = 29,
            const byte pinLegMotors = 10,
            const byte pinDomeMotor = 11) :
        fPosDegrees(~0),
        fPinS1(pinS1),
        fPinJ1(pinJ1),
        fPinS2(pinS2),
        fPinJ2(pinJ2),
        fPinLegMotors(pinLegMotors),
        fPinDomeMotor(pinDomeMotor)
    {
    }
 
    virtual void setup() override
    {
        pinMode(fPinS1, INPUT_PULLUP);
        pinMode(fPinJ1, INPUT_PULLUP);
        pinMode(fPinS2, INPUT_PULLUP);
        pinMode(fPinJ2, INPUT_PULLUP);
        pinMode(fPinLegMotors, INPUT);
        pinMode(fPinDomeMotor, INPUT);
    }
 
    void setDomePosition(uint16_t degrees)
    {
        if (degrees != fPosDegrees)
        {
            fPosDegrees = degrees;
            int output = map(degrees, 0, 360, 0, 4095);
 
            Wire.beginTransmission(0x62);
            Wire.write(MCP4726_CMD_WRITEDAC);
            // Upper bits (D11.D10.D9.D8.D7.D6.D5.D4)
            Wire.write(output / 16);
            // Lower bits (D3.D2.D1.D0.x.x.x.x)
            Wire.write((output % 16) << 4);
            Wire.endTransmission();
        }
    }
 
    inline bool getS1()
    {
        return ((fStatus & S1_FLAG) != 0);
    }
 
    inline bool getS2()
    {
        return ((fStatus & S2_FLAG) != 0);
    }
 
    inline bool getJ1()
    {
        return ((fStatus & J1_FLAG) != 0);
    }
 
    inline bool getJ2()
    {
        return ((fStatus & J2_FLAG) != 0);
    }
 
    inline byte getStatusFlags()
    {
        return fStatus;
    }
 
    inline bool getStatusChanged()
    {
        return fChanged;
    }
 
    inline bool didLegMotorsStart()
    {
        return ((fPrevStatus & LEGMOTORS_FLAG) == 0 &&
                (fStatus & LEGMOTORS_FLAG) != 0);
    }
 
    inline bool didLegMotorsStop()
    {
        return ((fPrevStatus & LEGMOTORS_FLAG) != 0 &&
                (fStatus & LEGMOTORS_FLAG) == 0);
    }
 
    inline bool getLegMotorsMoving()
    {
        return ((fStatus & LEGMOTORS_FLAG) != 0);
    }
 
    inline bool didDomeMotorStart()
    {
        return ((fPrevStatus & DOMEMOTOR_FLAG) == 0 &&
                (fStatus & DOMEMOTOR_FLAG) != 0);
    }
 
    inline bool didDomeMotorStop()
    {
        return ((fPrevStatus & DOMEMOTOR_FLAG) != 0 &&
                (fStatus & DOMEMOTOR_FLAG) == 0);
    }
 
    inline bool getDomeMotorMoving()
    {
        return ((fStatus & DOMEMOTOR_FLAG) != 0);
    }
    virtual void animate() override
    {
        byte status = 0;
        fChanged = false;
        if (digitalRead(fPinS1) == HIGH)
            status |= S1_FLAG;
        if (digitalRead(fPinS2) == HIGH)
            status |= S2_FLAG;
        if (digitalRead(fPinJ1) == HIGH)
            status |= J1_FLAG;
        if (digitalRead(fPinJ2) == HIGH)
            status |= J2_FLAG;
        if (digitalRead(fPinLegMotors) == HIGH)
            status |= LEGMOTORS_FLAG;
        if (digitalRead(fPinDomeMotor) == HIGH)
            status |= DOMEMOTOR_FLAG;
        if (status != fStatus)
        {
            DEBUG_PRINT("STEALTH STATUS CHANGE: ");
            DEBUG_PRINT_HEX(status);
            DEBUG_PRINTLN();
            fPrevStatus = fStatus;
            fStatus = status;
            fChanged = true;
        }
    }
 
private:
    const byte MCP4726_CMD_WRITEDAC = 0x40;  // Writes data to the DAC
    const byte MCP4726_CMD_WRITEDACEEPROM = 0x60;  // Writes data to the DAC and the EEPROM (persisting the assigned value after reset)
    uint16_t fPosDegrees;
    bool fChanged;
    byte fStatus;
    byte fPrevStatus;
    byte fPinS1;
    byte fPinJ1;
    byte fPinS2;
    byte fPinJ2;
    byte fPinLegMotors;
    byte fPinDomeMotor;
};
 
#endif