#include "DCMotor.h"

void DCMotor_conf() {
	
	//On règle la vitesse en valeur absolue, ici à 0
	Timer_pwmo_conf(TIM2, LL_TIM_CHANNEL_CH2, 50, 0);
	
	//On règle le sens du moteur, ici sens direct (?)
	GPIO_conf(GPIOA, LL_GPIO_PIN_2, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_OPENDRAIN, LL_GPIO_PULL_DOWN);
	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, 0);
}

void DCMotor_setSpeed(double speed) {
	
	double speedAbs = (speed > 0.) ? speed : -speed;
	int sens = (speed > 0.) ? 1 : 0;
	
	Timer_pwmo_setDutyCycle(TIM2, LL_TIM_CHANNEL_CH2, speedAbs);
	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, sens);
	
}

double DCMotor_getSpeed(){
	
	double speedAbs = Timer_pwmo_getDutyCycle(TIM2, LL_TIM_CHANNEL_CH2);
	int sens = GPIO_readPin(GPIOA, LL_GPIO_PIN_2);
	
	double speed = (sens) ? speedAbs : -speedAbs;
	
	return speed;
	
}