#ifndef TURRET_H
#define TURRET_H

#include <kissStepper.h>

class Turret {
public:
  enum Unit { MM, CM, M, RAD, DEG, STEP };

  Turret(int pin_x_direction, int pin_x_pulse, int pin_x_enable, int pin_x_home,
         int pin_y_direction, int pin_y_pulse, int pin_y_enable, int pin_y_home,
         int pin_laser);

  Turret &init();
  Turret &gotoHome();
  Turret &gotoZero();

  Turret &moveTo(double x, double y, double z, Unit unit = Turret::Unit::CM);
  Turret &moveBy(double x, double y, double z, Unit unit = Turret::Unit::CM);

  Turret &moveToX(double x, Unit unit = Turret::Unit::CM);
  Turret &moveToY(double y, Unit unit = Turret::Unit::CM);
  Turret &moveToZ(double z, Unit unit = Turret::Unit::CM);

  Turret &moveByX(double x, Unit unit = Turret::Unit::CM);
  Turret &moveByY(double y, Unit unit = Turret::Unit::CM);
  Turret &moveByZ(double z, Unit unit = Turret::Unit::CM);

  Turret &getPosition(double &x, double &y, double &z, Unit unit);
  Turret &getHome(double &x, double &y, double &z, Unit unit);
  Turret &getZero(double &x, double &y, double &z, Unit unit);

  Turret &calibrate();

  Turret &laserOn();
  Turret &laserOff();

private:
  kissStepper _stepperX;
  kissStepper _stepperY;

  long _homeX;
  long _homeY;

  long _zeroX;
  long _zeroY;

  long _currentX;
  long _currentY;
  long _currentZ;

  int _pin_x_direction;
  int _pin_x_pulse;
  int _pin_x_enable;

  int _pin_y_direction;
  int _pin_y_pulse;
  int _pin_y_enable;

  int _pin_x_home;
  int _pin_y_home;
  int _pin_laser;
};

#endif