#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;

  int _homeX;
  int _homeY;

  int _zeroX;
  int _zeroY;

  int _currentX;
  int _currentY;
  int _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