/*
 * IncrementCounter.cpp
 *
 *  Created on: 2 мар. 2020 г.
 *      Author: user
 */

#include "IncrementCounter.hh"

driver::IncrementCounter::operator PositionCode() {

    long temp_position = pos_code.angle_data + counter.getDeltaCounter();

    //todo плохо если temp_position < -line_in_turn...
    if( temp_position < 0 ) {
       temp_position += line_in_turn;

       if( pos_code.turn > 0 ) pos_code.turn--;
       else {
           pos_code.turn = max_turn_value - 1;
       }
    } else if( temp_position >= line_in_turn ) {
       temp_position -= line_in_turn;

       if( pos_code.turn < max_turn_value - 1 ) pos_code.turn++;
       else {
           pos_code.turn = 0;
       }
    }

    pos_code.angle_data = temp_position;

    return pos_code;

}