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namespace GoPiGo

{

public interface IEncoderController

{

IEncoderController SetEncoderTargetingOn(State motorOneState, State motorTwoStatem, int target);

int ReadEncoder(Motor motor);

IEncoderController EnableEncoders();

IEncoderController DisableEncoders();

}

public class EncoderController : IEncoderController

{

private readonly GoPiGo _goPiGo;

public EncoderController(GoPiGo goPiGo)

{

_goPiGo = goPiGo;

}

public IEncoderController SetEncoderTargetingOn(State motorOneState, State motorTwoState, int target)

{

var motorSelect = (int)motorOneState * 2 + (int)motorTwoState;

_goPiGo.RunCommand(Commands.SetEncoderTargeting, (byte)motorSelect, (byte)(target / 256), (byte)(target % 256));

return this;

}

public int ReadEncoder(Motor motor)

{

var buffer = new[] { (byte)Commands.ReadEncoder, (byte)motor, Constants.Unused, Constants.Unused };

_goPiGo.DirectAccess.Write(buffer);

_goPiGo.DirectAccess.Read(buffer);

int encoder = buffer[1] * 256 + buffer[2];

return encoder;

}

public IEncoderController EnableEncoders()

{

_goPiGo.RunCommand(Commands.EnableEncoder);

return this;

}

public IEncoderController DisableEncoders()

{

_goPiGo.RunCommand(Commands.DisableEncoder);

return this;

}

}

}