pwm_test_suite

// Tests supported:
enum testType { LEFT_ONLY, SIMPLE_FLAP, DUTY_SWEEP, DEAD_ZONE_SWEEP };
enum dir {RIGHT, LEFT};

class TestSuite {
  public:
    // Member Variables:
    testType  ActiveTest;  // which pattern is running

    // Joint pin settings
    int LeftPin;
    int RightPin;
    int LED = 13;
    bool isPwm = false; // Toggle bang-bang and pwm.

    // Flapping settings
    dir currDir = RIGHT;
    int currFlapNum;

    // Duty settings
    int MinDuty;
    int MaxDuty;
    int currDuty;
    int DutyInterval;

    // Dead Zone settings
    int MinDeadZone;
    int MaxDeadZone;
    int currDeadZone; // dead zone is percent of period.
    int DeadZoneInterval;

    long Period;   // milliseconds. Period of whole sine wave.
    long lastUpdate; // last update of position.
    int FlapsPerSetting; // num flaps before setting update.

    // Constructor - calls base-class constructor to initialize strip
    TestSuite(int leftPin, int rightPin, float frequency = 0.5, int duty = 50, int deadZone = 0, bool isPwmTest = false)
    {
//      pinMode(leftPin, OUTPUT);
//      pinMode(rightPin, OUTPUT);
      pinMode(LED, OUTPUT);
      SimpleFlapSet(duty, deadZone, frequency, true);
    }

    void SimpleFlapSet(int duty, int deadZone, float frequency, bool isPwmTest) {
      currDuty = duty;
      currDeadZone = deadZone;
      isPwm = isPwmTest;
      currFlapNum = 1;
      ActiveTest = SIMPLE_FLAP;
      Serial.println("Set Simple Flap."); // When set, may not print correclt as the Serial isn't initialized until the main sketch setup.
      SetPeriod(frequency);
    }

    void Update() {
      // Update parameters depending on test.
      switch (ActiveTest) {
         case LEFT_ONLY:
          LeftOnlyUpdate();
        default:
          break;
      }
      Flap();
    }

    void Flap() {
      UpdateFlapDir();
      UpdatePins();
    }

    void UpdateFlapDir() {
      if (millis() - lastUpdate >= Period / 2) {
        // currDir = 1 - CurrDir; // Switch direction
        if (currDir == RIGHT) {
          currDir = LEFT;
        } else {
          currDir = RIGHT;
        }
        lastUpdate = millis();
        currFlapNum++; // Another flap has been completed.
        Serial.println("Flap.");
      }
    }

    void UpdatePins() {
      // Check if not in dead zone.
     if (millis() - lastUpdate <= Period / 2 * (100 - currDeadZone) / 100) {
        if (isPwm) { // Use pwm to the pins.
          int pwm = (int)(255 * currDuty / 100);
          if (currDir == RIGHT) {
            Serial.println("RIGHT PWM");
            analogWrite(RightPin, pwm);
            analogWrite(LeftPin, 0);
            digitalWrite(LED, HIGH);
          } else {
            Serial.println("LEFT PM");
            analogWrite(RightPin, 0);
            analogWrite(LeftPin, pwm);
            digitalWrite(LED, LOW);
          }
        } else { // Bang-bang control
          if (currDir == RIGHT) {
            Serial.println("RIGHT");
            digitalWrite(RightPin, HIGH);
            digitalWrite(LeftPin, LOW);
            digitalWrite(LED, HIGH);
          } else {
            Serial.println("LEFT");
            analogWrite(RightPin, LOW);
            analogWrite(LeftPin, HIGH);
            digitalWrite(LED, LOW);
          }
        }
      } else {
        Serial.println("ZERO PWM!!!");
        digitalWrite(RightPin, LOW);
        digitalWrite(LeftPin, LOW);
      }
    }

    void LeftOnlySet(int duty, int deadZone, bool isPwmTest) {
      currDuty = duty;
      currDeadZone = deadZone;
      isPwm = isPwmTest;
      currFlapNum = 1;
      currDir = LEFT;
      ActiveTest = LEFT_ONLY;
      SetPeriod();
      Serial.println("Set Left Side Only."); // When set, may not print correcty as the Serial isn't initialized until the main sketch setup.
    }

    void LeftOnlyUpdate() {
      lastUpdate = millis(); // To prevent flipping of the joint, trick it into thinking it's switched sides already.
    }

    void SetPeriod(float frequency = 0.5) {
      Period = (int)(1 / frequency * 1000); // convert to ms.
      Serial.print("Period set to: ");
      Serial.print(Period);
      Serial.print("ms.\n");
    }
};