/*
 * RouterElevator.h
 *
 *  Created on: 12.02.2022
 *      Author: FSmilari
 */

#ifndef ROUTERELEVATOR_H_
#define ROUTERELEVATOR_H_

#include <Arduino.h>
#include <ESP_FlexyStepper.h>

#include "Display.h"
#include "WLS.h"

class RouterElevator {

	private:
		ESP_FlexyStepper Stepper;
		Display display;
		int previousDirection = 0;
		byte limitSwitchState = 1;
		int LimitSwitch;
		WLS &WlsDetect, &Wls;
		int DOWNWARD_DIR;
		int UPWARD_DIR;

	public:
		RouterElevator(ESP_FlexyStepper &_Stepper, Display &_display, WLS &_WlsDetect, WLS &_Wls, int _LimitSwitch, int _DOWNWARD_DIR);
		void setZeroPosition(void);
		void moveRelativeInMillimeters(float distanceInMillimeters);
		void moveToLowerLimitSwitch(void);
		void moveToUpperLimitSwitch(void);
		void clearLimitSwitch(void);
		void tryReleaseLimitSwitch(void);
		bool isLimitSwitchTriggerd(void);
		bool isWLSTriggerd(void);
		bool isTargetPositionReached(void);
		void limitSwitchHandler(void);
		void checkDirection(void);
};


#endif /* ROUTERELEVATOR_H_ */