#ifndef PRG_342_H
#define PRG_342_H

#include "Arduino.h"

class PRG_342 {
public:
    PRG_342();  // Standardkonstruktor
    PRG_342(float k_faktor);
    ~PRG_342(); // Standarddestruktor

    unsigned int ActOut;
    static const int TORQUE_OUT_PIN = DAC1;

    unsigned int getSetPoint(unsigned char format);
    unsigned int getOutVolt();
    void tareTorque();
    void tareAngle();
    void updateActOut(int actTorque);
    int getTorque(int offset = true);
    //int getTorque(int offset, unsigned int COUNTS);
    int getTorque(int offset, float ALPHA);
    int getAngle();
    static volatile bool isRunning;
    //void setOutput(unsigned int value);
    //void setOutput(unsigned int value, bool noLimits = false, bool onlyWhenRunning = false);
    void setOutput(unsigned int value, bool onlyWhenRunning = false);
    void setOutput(int startValue, int endValue, int mA_per_ms);
    void safeShutdown();
    void safeShutdown(unsigned int time);
    void safeShutdown(unsigned int time, unsigned int value);
    void DynDecog(unsigned int actValue);
    void AutoDecog();

    float getRotationSpeed();

private:
    int getActTorque();
    void updateActTorqueOut();
    void updateValA0();
    void updateValA1();
    static void updateEncoder(); // Statische ISR-Funktion
    float K_FAKTOR;

    static volatile int encoderPos; // Encoderposition
    static volatile int lastEncoderPos; // Encoderposition
    static volatile int lastEncoded; // Letzter enkodierter Zustand
    static volatile int ANGLE; // Winkel

    static const int EncoderPinA = 22;
    static const int EncoderPinB = 23;
    static const int EncoderPinN = 24;
    
    static const int DMS_PIN = A0;
    static const int EXTSET_PIN = A1;
    static const int ACT_OUT_PIN = DAC0;

    static int valA0;
    static int valA1;

    static int filteredValA1;

    float exponentialFilter(float currentValue, float previousFilteredValue, float alpha);

    int TORQUE;
    int OFFSET;
    unsigned int SETPOINT;
    unsigned long lastSpeedCalcTime;
    int lastAngle;

};

#endif