#ifndef BLDCMotor_h
#define BLDCMotor_h

#include "Arduino.h"
#include "common/base_classes/FOCMotor.h"
#include "common/base_classes/Sensor.h"
#include "common/base_classes/FOCDriver.h"
#include "common/base_classes/BLDCDriver.h"
#include "common/foc_utils.h"
#include "common/time_utils.h"
#include "common/defaults.h"

/**
 BLDC motor class
*/
class BLDCMotor: public FOCMotor
{
  public:
    /**
     BLDCMotor class constructor
     @param pp  pole pairs number
     @param R   motor phase resistance - [Ohm]
     @param KV  motor KV rating (1/K_bemf) - rpm/V
     @param Lq  motor q-axis inductance - [H]
     @param Ld  motor d-axis inductance - [H]
     */ 
    BLDCMotor(int pp,  float R = NOT_SET, float KV = NOT_SET, float L_q = NOT_SET, float L_d = NOT_SET);
    
    /**
     * Function linking a motor and a foc driver 
     * 
     * @param driver BLDCDriver class implementing all the hardware specific functions necessary PWM setting
     */
    virtual void linkDriver(BLDCDriver* driver);


    float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor

    BLDCDriver* driver; //!< BLDCDriver instance
    // Methods implementing the FOCMotor interface
    
    /**  Motor hardware init function */
    int init() override;
    /** Motor disable function */
  	void disable() override;
    /** Motor enable function */
    void enable() override;

    /**
    * Method using FOC to set Uq to the motor at the optimal angle
    * Heart of the FOC algorithm
    * 
    * @param Uq Current voltage in q axis to set to the motor
    * @param Ud Current voltage in d axis to set to the motor
    * @param angle_el current electrical angle of the motor
    */
    void setPhaseVoltage(float Uq, float Ud, float angle_el) override;

    /**
     * Method estimating the Back EMF voltage based
     * based on the current velocity and KV rating
     * 
     * @param velocity Current motor velocity
     */
    float estimateBEMF(float velocity) override;


    // Methods overriding the FOCMotor default behavior

    /**
     * Measure resistance and inductance of a BLDCMotor and print results to debug.
     * If a sensor is available, an estimate of zero electric angle will be reported too.
     * @param voltage The voltage applied to the motor
     * @returns 0 for success, >0 for failure
     */
    int characteriseMotor(float voltage){
      return FOCMotor::characteriseMotor(voltage, 1.5f);
    }
    

};


#endif