#ifndef ROTARY_ENCODER_DRIVER_H
#define ROTARY_ENCODER_DRIVER_H

#include <stdint.h>

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

class RotaryEncoderDriver {
public:
    static constexpr uint16_t SAMPLE_PERIOD_US = 4000;   // Ts = 4 ms
    static constexpr float COUNTS_PER_REV = 1050.0f;

private:
    static const uint8_t HIST_LEN = 4;   // 4 x Ts = 16 ms gluggi fyrir rpm-utreikning

    volatile int32_t count;
    volatile int16_t delta;
    volatile bool speed_ready;

    volatile int32_t history[HIST_LEN];
    volatile uint8_t hist_idx;

    Digital_in eA;
    Digital_in eB;

    Timer_usec timer;

public:
    RotaryEncoderDriver();

    void begin();

    void update();

    int32_t position();

    void update_delta();

    float count_per_sec();

    float rpm();

    bool new_speed_available();

    void reset_speed_measurement();

};
#endif