#ifndef MOTOR_CONTROLLER_H
#define MOTOR_CONTROLLER_H

#include "rotary_encoder_driver.h"
#include "motor_driver.h"
#include "p_controller.h"

class State;


class MotorController
{
private:
    State* current_state;

    State* initialization_state;
    State* operational_state;

    RotaryEncoderDriver& encoder;
    MotorDriver& motor;
    P_controller& controller;

    double reference_rpm;


public:
    MotorController(
        RotaryEncoderDriver& encoder,
        MotorDriver& motor,
        P_controller& controller
    );


    void set_states(
        State* initialization,
        State* operational
    );


    void begin();

    void update();

    void command(char c);

    void transition_to(State* new_state);


    void to_initialization();

    void to_operational();


    void run_speed_controller();

    void stop_motor();

    void reset_speed_measurement();
};

#endif