RudderServo.h

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#ifndef RUDDERSERVO_H_
#define RUDDERSERVO_H_

#include "EZServoServo.h"
#include "io/LoadControl.h"
#include "io/UartStream.h"

class UniversalDataWriter;

class RudderServo : public EZServoServo
{
public:
    RudderServo( const Module* module );
    virtual ~RudderServo();

    virtual void run();

    virtual RunState start();

    virtual RunState starting();

    virtual RunState pause();

    virtual RunState paused();

    virtual RunState resume();

    virtual RunState resuming();

    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();

    virtual RunState stopping();

    virtual RunState stopped();

    // Shuts down motor controllers
    void uninitialize( void );

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:

    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    RudderServo( const RudderServo& old ); // disallow copy constructor

    // Instance of load controller
    LoadControl loadControl_;

    // The outputs themselves
    UniversalDataWriter* rudderAngleWriter_;

    // The inputs
    DataReader* rudderAngleReader_;

    // returns true if data is requested from one of the readers
    bool isDataRequested();

    // returns true if a new position has been commanded
    bool isNeeded();

    typedef enum
    {
        INITIALIZE,   // Program basic initialization into EEPROM
        WAIT,         // Wait for EEPROM write to finish
        HOME,         // Do any centering/homing, etc if needed
        EXECUTE,      // Execute any stored programs
        VERIFY,       // Confirm operable and no errors
        DONE,         // Ready to run
    } StartupSequence;

    StartupSequence startup_;

    // indicates whether things are ok to run
    bool ok_;

    // Actual and commanded rudder angles
    float actualRudderAngle_;
    float cmdRudderAngle_;

    // Debugging outputs
    bool debug_;

    //-----------------------------------------------------------------*/

    float ruddDeadbandCfg_;

    //-----------------------------------------------------------------*/

    // Config readers
    ConfigReader* rudderDeadbandCfgReader_;

    // read vehicle config variables
    bool readConfig( void );

    // the given motor controller is ready to receive commands
    bool rudderRdy_;

    // Initialization routines. Returns true if initialization completed without error
    bool initRudder( void );
};

#endif /*RUDDERSERVO_H_*/