#ifndef ROTARY_ENCODER_DRIVER_H
#define ROTARY_ENCODER_DRIVER_H

#include <stdint.h>

#include "digital_in.h"
#include "digital_out.h"
#include "timer_usec.h"

class RotaryEncoderDriver {
    static const uint8_t HIST_LEN = 4;   // 8 x 5 ms = 40 ms gluggi fyrir rpm-utreikning

    volatile uint8_t cycle;
    volatile int16_t count;
    volatile int16_t prev_count;
    volatile bool speed_ready;

    volatile int16_t history[HIST_LEN];
    volatile uint8_t hist_idx;

    Digital_out led;

    Digital_in eA;
    Digital_in eB;

    Timer_usec timer;

public:
    volatile int16_t delta;

    RotaryEncoderDriver();
    void begin();
    void update();
    int position(); 
    void update_delta();
    float count_per_sec();
    float rpm();

    bool new_speed_available();
    void reset_speed_measurement();

};
#endif