#ifndef SPEED_ESTIMATOR_H
#define SPEED_ESTIMATOR_H

#include <stdint.h>

class Speed_estimator
{
public:
    Speed_estimator(
        double countsPerRevolution,
        double sampleTimeSeconds
    );

    void reset(int32_t initialPosition);

    double update(int32_t currentPosition);

    double rpm() const;

private:
    static const uint8_t WINDOW_SIZE = 10;

    double countsPerRevolution;
    double sampleTime;

    int32_t previousPosition;

    int32_t countHistory[WINDOW_SIZE];
    int32_t rollingCounts;

    uint8_t historyIndex;
    uint8_t samplesFilled;

    double currentRPM;
};

#endif