#pragma once
#include "Motor.h"
#include <thread>
#include <iostream>

class CuoZhiMotor : public Motor
{
public:
	const MotorSpeedParam mspCuozhiBackward= {.finalPeriod = 627500,.Fmin = 1407750,.stepnum = 25,.a=150,.offset=8,.finalDelay=3000,.acceleration_time=0};

public:
	CuoZhiMotor();
	~CuoZhiMotor();

	void reset();

	virtual void start();

	void startAsyn();

	void pauseWaitForThread();

	void backward();

	void feeding();

	void speedChange(MotorSpeedParamEx paramex);
	
	void speedRecover();

private:
	MotorSpeedParam mspCuozhiFeeding;
	std::vector<int> delays_forward;
	MotorSpeedParamEx m_cuoparamex;
	std::vector<int> delays_backward;
	std::vector<int> delays_feeding;
	std::thread thStart;
	void forward();
	void speedConfig();
};