#ifndef BeerBotLib_h
#define BeerBotLib_h

#include "Arduino.h"
#include "Servo.h"
#include "NewPing.h"

/**
* class to add some additional features for the servo.
*/

class NewServo {
	public:
		void setup(int servoPin, int pos, boolean newServo);
		int getPos();
		void setPos(int pos);
 		void sweep(int servoSpeed, int servoRange, int servoDelay);
	private:
		Servo myServo;
		int position;
		int direction;
};

/**
* class for working with an ultrasonic distance sensor.
* is not used for the roboter in its current state. 
*/

class DistanceSensor {
	public:
		void setup(int inputPin, int outputPin, int servoPin);
		int getPos();
		int getDistance();
		
	private:
		NewPing sensor;
		NewServo myServo;	 
};

/**
* class to control the stepper motors.
*/

class StepperMotor {
	public:
		void setup(int stepPin, int directionPin);
		void makeStep(boolean direction);
	private:
		int stepPin;
		int directionPin;
};

/**
* class to control the whole gear of the servo.
*/

class Gear {
	public:
		void setup(float wheelDiameter, float axisDistance, int leftMotorStepPin, int leftMotorDirPin, int rightMotorStepPin, int rightMotorDirPin);
		void turnToServoPos(int servPos, int stepSpeed, int tolerance, int partAngle);
		void turnAngle (int angle, boolean turnDirection, int stepSpeed); 
		void drive(float distance, int stepSpeed, boolean driveDirection);
	private:
		float wheelDiameter;
		float axisDistance;
		StepperMotor rightMotor;
		StepperMotor leftMotor;
};

/**
* class to trigger the pusher(s).
*/

class Pusher {
	public:
		void setup(int pusherPin);
		void push(int duration);
	private:
		int pusherPin;
};

/**
* class to control the barriers.
*/

class Barrier {
	public:
		void setup(int servoPin, int closedPos, int openPos);
		void openBarrier();
		void closeBarrier();
	private:
		NewServo myServo;
		boolean closed;
		int closedPos;
		int openPos;	
};

/**
* class to control the push button contact sensors.
*/

class ContactSensor {
	public:
		void setup(int rightButtonPin, int leftButtonPin, int conductorPin);
		boolean rightButtonPushed();
		boolean leftButtonPushed();
		boolean isConducting();
	private:
		int rightButtonPin;
		int leftButtonPin;
		int conductorPin;
};


#endif