"""Helpers for building moving mirrors."""

from objects.board import Board

class Motor:
    """Model a type of servo motor."""

    OFFSET = 0 # In degrees a constant to be added
    SCALE = 1 # Scaling

    def __init__(self, board: Board, angle=0):
        self.board: Board = board
        self.id: int = Board.count
        Board.count += 1

        self.angle = angle
        self.offset = Motor.OFFSET # Fine grained controls over every motor
        self.coverage = Board.COVER
        self.scale = Motor.SCALE

        # Initialization
        self.set()

    # Update the motor position on hardware
    def set(self):
        self.board.kit.servo[self.id].angle = self.angle * self.scale + self.offset

    def set_angle(self, angle):
        self.angle = min(self.coverage, max(0, angle)) # Double check bad
        self.set()

    def __str__(self):
        return f"Motor {self.id} is set at {self.angle} degrees."

    def inc(self, inc):
        self.angle += inc
        self.angle = min(max(self.angle, 0), Board.COVER) # Clip
        self.set()