#ifndef Motor_h
#define Motor_h

#include <AccelStepper.h>

class Motor {
  private:
    int dirPin;    //馬達 7
    int stepPin;   //馬達 6
    int HIGHLimit; //正極限(距離正) 正轉
    int LOWLimit; //負極限(距離負) 反轉
    float stepDistance; //0.000625 步長
    float speed;        //1600 馬達的速度，1600步/秒
    AccelStepper stepper;
    float _currentPosition;
    float _targetPosition;


  public:
    Motor(int dirPin, int stepPin, int HIGHLimit, int LOWLimit, float stepDistance, float speed);
    void move(float distance);
    void stop();
    float getCurrentPosition();
    void resetPosition();
    void moveDis(float distance);
    void moveToHighLim();
    void motorMove(float distance);
    void changeSpeed(int speed);
};
#endif