motor

type Motor interface {
	resource.Resource
	resource.Actuator

	// SetPower sets the percentage of power the motor should employ between -1 and 1.
	// Negative power corresponds to a backward direction of rotation.
	SetPower(ctx context.Context, powerPct float64, extra map[string]interface{}) error

	// GoFor instructs the motor to go in a specific direction for a specific amount of
	// revolutions at a given speed in revolutions per minute. Both the RPM and the revolutions
	// can be assigned negative values to move in a backwards direction. Note: if both are
	// negative the motor will spin in the forward direction.
	// If revolutions != 0, this will block until the number of revolutions has been completed or another operation comes in.
	GoFor(ctx context.Context, rpm, revolutions float64, extra map[string]interface{}) error

	// GoTo instructs the motor to go to a specific position (provided in revolutions from home/zero),
	// at a specific speed. Regardless of the directionality of the RPM this function will move the motor
	// towards the specified target/position.
	// This will block until the position has been reached.
	GoTo(ctx context.Context, rpm, positionRevolutions float64, extra map[string]interface{}) error

	// SetRPM instructs the motor to move at the specified RPM indefinitely.
	SetRPM(ctx context.Context, rpm float64, extra map[string]interface{}) error

	// Set an encoded motor's current position (+/- offset) to be the new zero (home) position.
	ResetZeroPosition(ctx context.Context, offset float64, extra map[string]interface{}) error

	// Position reports the position of an encoded motor based on its encoder. If it's not supported,
	// the returned data is undefined. The unit returned is the number of revolutions which is
	// intended to be fed back into calls of GoFor.
	Position(ctx context.Context, extra map[string]interface{}) (float64, error)

	// Properties returns whether or not the motor supports certain optional properties.
	Properties(ctx context.Context, extra map[string]interface{}) (Properties, error)

	// IsPowered returns whether or not the motor is currently on, and the percent power (between 0
	// and 1, if the motor is off then the percent power will be 0).
	IsPowered(ctx context.Context, extra map[string]interface{}) (bool, float64, error)
}

type Properties struct {
	PositionReporting bool
}