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 *  Copyright (c) 2023 Gregg E. Berman
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 *  https://github.com/HomeSpan/HomeSpan
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// This example demonstrates how to control a real-world Stepper Motor using HomeSpan's
// generic StepperControl Class.

// For this sketch we will use an implementation of StepperControl designed to operate an
// Adafruit TB6612 1.2A DC/Stepper Motor Driver Breakout Board (https://www.adafruit.com/product/2448)
// using only its 4 control pins: AIN1, AIN2, BIN1, and BIN2

// See HomeSpan's StepperControl documentation for a list of built-in driver boards, as well as for
// detailed instructions on how you can easily use StepperControl to implement a custom driver for any board.

// Note this example is based on the fully-commented WindowShade Accessory sketch from Tutorial Example 13.

#include "HomeSpan.h"
#include "extras/Stepper_TB6612.h"     // this contains HomeSpan's StepperControl Class for the Adafruit TB6612 Driver Board

////////////////////////////////////

struct DEV_WindowShade : Service::WindowCovering {

//  SpanCharacteristic *current;
//  SpanCharacteristic *target;

  Characteristic::CurrentPosition currentPos{0,true};
  Characteristic::TargetPosition targetPos{0,true};
  
  Stepper_TB6612 *motor;          // create pointer to TB6612 motor controller

  DEV_WindowShade(int a1, int a2, int b1, int b2) : Service::WindowCovering(){
        
//    current=new Characteristic::CurrentPosition(0,true);    
//    target=new Characteristic::TargetPosition(0,true);
    
    motor=new Stepper_TB6612(a1, a2, b1, b2);    // instantiate motor using pins specified in set-up below
    motor->setAccel(10,20);                      // set acceleration parameters
        
    LOG0("Configuring Motorized Window Shade with input pins: A1=%d, A2=%d, B1=%d, B2=%d\n",a1,a2,b1,b2);
    LOG0("Initial Position: %d\n",currentPos.getVal());
    motor->setPosition(currentPos.getVal()*10);
  }

  ///////////
  
  boolean update(){

    // Move motor to absolute position, assuming 200 steps per revolution and 5 revolutions for full up/travel travel,
    // for a total of 1000 steps of full travel.
    
    // Specify that motor should enter the BRAKE state upon reaching to desired position.
    
    motor->moveTo(targetPos.getNewVal()*10,5,Stepper_TB6612::BRAKE);
    LOG1("Setting Shade Position=%d\n",targetPos.getNewVal());
    return(true);  
  }

  ///////////

  void loop(){

    // If the current window shade position does NOT equal the target position, BUT the motor has stopped moving,
    // we must have reached the target position, so set the current position equal to the target position
    
    if(currentPos.getVal()!=targetPos.getVal() && !motor->stepsRemaining()){
      currentPos.setVal(targetPos.getVal());
      LOG1("Motor Stopped at Shade Position=%d\n",currentPos.getVal());
    }    
  }
  
};

////////////////////////////////////

void setup() {

  Serial.begin(115200);

  homeSpan.begin(Category::WindowCoverings,"Motorized Shade");

  new SpanAccessory();                                                          
    new Service::AccessoryInformation();
      new Characteristic::Identify(); 
    new DEV_WindowShade(23,32,22,14);               // The TB6612 driver requires 4 digital pins: AIN1, AIN2, BIN1, and BIN2.  Change these pin numbers to match YOUR board!
}

//////////////////////////////////////

void loop(){
  
  homeSpan.poll();  
}