Disc.h

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#pragma once
#include "Motor.h"

#define MAX_RPM 30 
class Disc{
  public:
    Motor *motor; 
    Disc(Motor* attachedMotor) {
      motor = attachedMotor;
      motor->setupMotor();
    }

    void updateSpeed(float desiredRpm) {
        if(desiredRpm > 30){ //If the desired RPM is greater than max run at max
          desiredRpm = MAX_RPM;
        }else if(desiredRpm < -30){
          desiredRpm = -1 * MAX_RPM;
        }
        
        delay(100);
        float tachRpm = motor->getRotationsPerMinute();
        double motorPercentage = motor->getPercentage();
        float desiredDiscRpm = desiredRpm;
        long desiredTachRpm = desiredDiscRpm * 1250; //converts DiscRpm to Tach rpm
        long desireMin = desiredTachRpm - 1000; //Creates a lower bound on rpm
        long desireMax = desiredTachRpm + 1000; //Creates an upper bound on rpm

        while (tachRpm > desireMax or tachRpm < desireMin){ //Runs until Rpm is within 10% of desired value
          delay(100);
          tachRpm = motor->getRotationsPerMinute();
          motorPercentage = motor->getPercentage();
          byte dir = motor->getDirection();
          if (dir == 0){
            tachRpm = -tachRpm;
          }
          if (desiredTachRpm > tachRpm){
            motor->increasePercentage(double((desiredTachRpm-tachRpm)/10000));
          }
          else if(desiredTachRpm < tachRpm){
            motor->decreasePercentage(double((tachRpm-desiredTachRpm)/10000));
          }
        }
    }
    unsigned long getRotationsPerMinute(){
      return motor->getRotationsPerMinute();
    }
    
    void setISR(){
      motor->interruptServiceRoutine();
    }

    void turnOnMotor(){
      motor->turnOnMotor();
    }

    void turnOffMotor(){
      motor->turnOffMotor();
    }

    void runDisc(double percent){
      motor->runMotor(percent);
    }

    void runDiscRandomly(){
      int randRpm = rand() % MAX_RPM;
      int randDir = pow(-1, rand() % 2); //Randomly generate -1 or 1 to determine the direction of rotation
      
      updateSpeed(randRpm * randDir);
    }

    bool setMinMotorPercentage(byte percent){
      return motor->setMinimumUsablePercent(percent);
    }

    bool setMaxMotorPercentage(byte percent){
      return motor->setMaxUsablePercent(percent);
    }

  private:
};