/*
JrkSerial.h -- library for Pololu Jrk Motor Controller
                 operating in UART Serial Mode, with the
                 Arduino using hardware serial communication
                 via digital pins 0 and 1.
Created by Robin Sharp, June 2014.
Released into the public domain.
*/

#ifndef JrkSerial_h
#define JrkSerial_h

#include "Arduino.h"

class JrkSerial
{ 
  public:
    JrkSerial();
    ~JrkSerial();
    enum    variable{input,target,feedback,sfeedback,errorsum,DCtarget,DCvalue};
    int     motorOff();
    int     getPosition();
    void    setPosition(const unsigned setpoint);
    void    setLimits(const int posMin, const int posMax);
    int     getVariable(const variable command);
    int     getErrors();
    int     getHaltErrors();
  private:
    int     _posMin;
    int     _posMax;
    int     _currentpos;
    int     get2byteResponse();
};
#endif