car_motor.h

#ifndef _CAR_MOTOR_H_
#define _CAR_MOTOR_H_

#include "car_state.h"
#include <thread>
#include <ctime>

//Leds

#define BACK_LIGHT 15
#define RIGHT_YELLOW_LIGHT 16
#define LEFT_YELLOW_LIGHT 11

//Motors LEFT

#define PWM_1 27
#define PIN_1_1 28 // Connect to IN 1_1
#define PIN_1_2 29 // Connect to IN 1_2

#define PWM_2 23
#define PIN_2_1 24 // Connect to IN 2_1
#define PIN_2_2 25 // Connect to IN 2_2

//Motors RIGHT those go backwards so we correct this by reversing the wires
#define PWM_3 26
#define PIN_3_1 21 // Connect to IN 3_2
#define PIN_3_2 22 // Connect to IN 3_1

#define PWM_4 3
#define PIN_4_1 4 // Connect to IN 4_2
#define PIN_4_2 5 // Connect to IN 4_1

// Pini line follower
const int PIN_FOLLOW_STANGA = 0;
const int PIN_FOLLOW_MIJLOC = 1;
const int PIN_FOLLOW_DREAPTA = 2;
const int PIN_FOLLOW_DREAPTA_FAR = 31;
const int PIN_FOLLOW_STANGA_FAR = 30;

class CarMotor {
public:
    enum Direction {
        FORWARD = 0,
        BACKWARD = 1,
        LEFT = 2,
        RIGHT = 3,
        STOP = 4
    };
private:
    enum TipCorectie {
        STANGA,
        DREAPTA,
        MIJLOC,
        UNKNOWN
    };

    bool is_turning = 0;
    clock_t turn_time;
    clock_t last_blink;
    bool blink_led_on=false;
    bool start_checking=false;
    
    CarState* state;
    std::unique_ptr<std::thread> motor_thread;
    void SyncronizeState();
    void SetDirection (Direction direction);
    void SetDirectionLeft (Direction direction);
    void SetDirectionRight (Direction direction);
    void SetSpeedLeft(int speed);
    void SetSpeedRight(int speed);
    void BlinkIfNecessary(clock_t current_time, Direction direction);
    void ResetBlinks();

    int Catch();

    TipCorectie GetCorrectionMode();

    int thread_on = 1;

  public:


    CarMotor(CarState* state);
    ~CarMotor();
    void Start();

};

#endif