// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Dead-reckoning position tracker
// Port of ASCOM AxisMovementTracker.cs using esp_timer microsecond precision

#pragma once

#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "ST4Types.h"

class ST4Tracker {
    double position_;
    double slewRate_;
    int64_t startTime_;
    mutable SemaphoreHandle_t mutex_;

    double calculateDelta() const;

public:
    ST4Tracker();
    ~ST4Tracker();

    void begin();
    void start(double slewRate);
    void stop();

    double position() const;
    void setPosition(double pos);
    double slewRate() const;
    bool isMoving() const;
};