// Motor services, using servo output (e.g. continuous rotation servo)

// Copyright (C)2018-2023, Philip Munts dba Munts Technologies.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
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namespace IO.Objects.Motor.Servo
{
    /// <summary>
    /// Encapsulates motors controlled by servo outputs (e.g. continuous
    /// rotation servos).
    /// </summary>
    public class Output : IO.Interfaces.Motor.Output
    {
        private readonly IO.Interfaces.Servo.Output servo;

        /// <summary>
        /// Constructor for a single motor output.
        /// </summary>
        /// <param name="servo">Servo output instance.</param>
        /// <param name="velocity">Initial motor velocity.</param>
        public Output(IO.Interfaces.Servo.Output servo,
          double velocity = IO.Interfaces.Motor.Velocities.Stop)
        {
            if ((velocity < IO.Interfaces.Motor.Velocities.Minimum) ||
                (velocity > IO.Interfaces.Motor.Velocities.Maximum))
                throw new System.Exception("Invalid motor velocity");

            servo.position = velocity;
            this.servo = servo;
        }

        /// <summary>
        /// Write-only property for setting the normalized motor velocity.
        /// Allowed values are -1.0 (full speed reverse) to +1.0
        /// (full speed forward.
        /// </summary>
        public double velocity
        {
            set
            {
                if ((value < IO.Interfaces.Motor.Velocities.Minimum) ||
                    (value > IO.Interfaces.Motor.Velocities.Maximum))
                    throw new System.Exception("Invalid motor velocity");

                this.servo.position = value;
            }
        }
    }
}