//
//  Vehicle.swift
//
//
//  Created by Michael Pivato on 8/5/20.
//

import Foundation
import SwiftyGPIO


protocol Vehicle2D{
    var throttle: Float {get set}
    var steering: Float {get set}
    mutating func move2D(magnitude: Float, angle: Float)
}

class MockVehicle: Vehicle2D {
    var throttle: Float = 0
    var steering: Float = 0
    
    func move2D(magnitude: Float, angle: Float) {
        
    }
}

class RPiVehicle2D: Vehicle2D{
    public var pwmThrottle: Servo
    public var pwmSteering: Servo
    
    var throttle: Float{
        get{
            return pwmThrottle.value
        }
        set(value){
            pwmThrottle.value = value
        }
    }
    
    var steering: Float{
        get{
            return pwmSteering.value
        }
        set(value){
            pwmSteering.value = value
        }
    }
    
    init(withThrottlePin: Servo, withSteeringPin: Servo){
        pwmThrottle = withThrottlePin
        pwmSteering = withSteeringPin
    }
    
    func calibrate(){
        // Define a function that indicates how the throttle/steering should be set for given magnitude/angle to move.
    }
    
    func move2D(magnitude: Float, angle: Float) {
        
    }
    
    func stop(){
        pwmThrottle.detach()
        pwmSteering.detach()
    }
    
}