#ifndef LinearHallSensor_h
#define LinearHallSensor_h

#include "Arduino.h"
#include "BLDCMotor.h"

enum Slope : int8_t{
    INCREASING    = 1,
    DECREASING    = -1,
    EQUAL     = 0
};

/**
 * @brief Linear Hall sensor class
 * 
 */
class LinearHallSensor
{
    public:
        /**
         Linear Hall Sensor class constructor
        @param ch1 Analog pin for channel 1
        @param ch2 Analog pin for channel 2
        */ 
        LinearHallSensor(uint8_t ch1, uint8_t ch2);


        /**
         * @brief Initialize variable by measuring max and min value
         * 
         */
        void init(BLDCMotor motor);


        /**
         * @brief Read the sensors and return the current angle in rad
         * 
         * @return rad and angle 
         */
        float readSensorCallbackStateMachine();

        float readSensorCallback();

    private:
        uint8_t _analogPin1;
        uint8_t _analogPin2;
        
        uint16_t _maxCh1;
        uint16_t _maxCh2;
        uint16_t _minCh1;
        uint16_t _minCh2;

        float _currentPosition;
        float _offset;

        float _minPositionEndValue;
        float _maxPositionEndValue;

        uint16_t _prevCh1;
        uint16_t _prevCh2;

        int8_t _directionCh1;
        int8_t _directionCh2;

        uint8_t _state;
};

#endif