#include "Orientation.h"
#include "math.h"

#define THRESHOLD 0

const float MIN_DUTY_CYCLE = 0.05;
const float ZERO_DUTY_CYCLE = 0.075;
const float MAX_DUTY_CYCLE = 0.1;

//  Recepteur
TIM_TypeDef * RECEIVER_TIMER = TIM4;
const int RECEIVER_CHANNEL = LL_TIM_CHANNEL_CH1;

// Moteur
TIM_TypeDef * DCMOTOR_TIMER = TIM2;
const int DCMOTOR_CHANNEL = LL_TIM_CHANNEL_CH2;
GPIO_TypeDef * DCMOTOR_GPIO = GPIOA;
const int DCMOTOR_PIN = LL_GPIO_PIN_2;

void Orientation_conf() 
{
	DCMotor_conf(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN);
	RFReceiver_conf(RECEIVER_TIMER, LL_TIM_CHANNEL_CH1);
}

void Orientation_background()
{
	const float duty_cycle = RFReceiver_getData(RECEIVER_TIMER);
	
	const float speed = (duty_cycle - ZERO_DUTY_CYCLE) / (MAX_DUTY_CYCLE - ZERO_DUTY_CYCLE);
	
	//Si la vitesse (en valeur absolue) ne dépasse pas un certain seuil, on ne démarre pas le moteur
	if (THRESHOLD > fabs(speed)) {
		DCMotor_setSpeed(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN, 0);
	}
	else { 
		DCMotor_setSpeed(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN, speed);
	}
}