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#ifndef ROTATIONSTAGE_H

#define ROTATIONSTAGE_H

#include <stdio.h>

#include <string>

#include <mutex>

extern "C" {

    #include "ArcusPerformaxDriver.h"

}

class RotationStage{

    public:

        RotationStage();

        ~RotationStage();

        // Send raw command

        bool executeStringCommand(std::string cmd);

        // Send raw command and get return string

        bool executeStringCommand(std::string cmd, std::string &ret);

        // Move to the desired angle in degrees, measured from the the current position

        void moveRelative(float angle);

        // Move to the desired angle in degrees, measured from the the initial position

        void moveAbsolute(float angle);

        // Get the current angular position in degrees

        float getAngle();

        // Returns whether the motor is currently moving

        bool isMoving();

        // Wait/block until motor is idle

        void wait();

        AR_HANDLE Handle;

    private:

        int microSteps;

        std::mutex mutex;

};

#endif // ROTATIONSTAGE_H