// Abstract interface for stepper motor outputs

// Copyright (C)2021-2023, Philip Munts dba Munts Technologies.
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namespace IO.Interfaces.Stepper
{
    /// <summary>
    ///  Abstract interface for stepper motor outputs.
    /// </summary>
    public interface Output
    {
        /// <summary>
        /// Move the stepper motor a specified number of steps at a
        /// specified rate.
        /// </summary>
        /// <param name="steps">Number of steps to move.
        /// Negative values indicate reverse motion and positive values
        /// indicate forward motion.  (The directions are nominal and depend on
        /// how the stepper motor coils are wired).  Zero indicates the stepper
        /// motor should be stopped.</param>
        /// <param name="rate">The rate of motion, in steps per second.
        /// Negative values indicate reverse motion and positive values
        /// indicate forward motion.  (The directions are nominal and depend on
        /// how the stepper motor coils are wired).  Zero indicates the stepper
        /// motor should be stopped.</param>
        void Move(int steps, float rate);

        /// <summary>
        /// Spin (i.e. continuous rotation) the stepper moter at a specified rate.
        /// </summary>
        /// <param name="rate">The rate of motion, in steps per second.
        /// Negative values indicate reverse motion and positive values
        /// indicate forward motion.  (The directions are nominal and depend on
        /// how the stepper motor coils are wired).  Zero indicates the stepper
        /// motor should be stopped.</param>
        /// <remarks>Not all stepper motor drivers support continuous
        /// rotation.</remarks>
        void Spin(float rate);

        /// <summary>
        /// Read-only property returning the number of steps a stepper motor
        /// has.
        /// </summary>
        int StepsPerRotation
        {
            get;
        }
    }
}