/*
 * Copyright (C) 2008  Manish Pandya, [manish at meetamanish dot com]
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
 * 
 */
package org.hooliguns.ninja.telnet.phiPiMod;

import org.hooliguns.ninja.telnet.CommandExecutionUnit;
import org.hooliguns.ninja.telnet.ValueOutOfRangeException;

/**
 * Set the desired V (velocity) value to the number following. For example V32
 * sets V to 32. V can range from 0 (a dead creep) to 63 (maximum slew rate).
 * Values outside this range saturate to 63. This value is persistent until
 * changed. The Ninja uses a non-linear velocity scale. That is to say, a
 * velocity of 48, say, won't necessarily be twice as fast as 24.
 * 
 * @author Manish Pandya (July 1 2008)
 * 
 */
public class Velocity extends CommandIntParam {

	/**
	 * 63 (maximum slew rate)
	 */
	public static final int VMAX = 63;

	/**
	 * 0 (a dead creep)
	 */
	public static final int VMIN = 0;

	/**
	 * Constructs a Velocity command with desired speed
	 * 
	 * @param velocity
	 *          desired speed in integer
	 * @throws ValueOutOfRangeException
	 *           when desired azimuth is out of range
	 */
	public Velocity(int velocity) throws ValueOutOfRangeException {

		if (velocity < VMIN || velocity > VMAX) {
			throw new ValueOutOfRangeException(
					"V (velocity) must fall within the range of " + VMIN
							+ " (a dead creep) to " + VMAX
							+ " (maximum slew rate) as per PhiPi firmware; You requested "
							+ velocity);
		}
		command = "v";
		this.paramVal = velocity;
	}

	/*
	 * (non-Javadoc)
	 * 
	 * @see org.hooliguns.ninja.telnet.Command#getHumanName()
	 */
	public String getHumanName() {
		return "Velocity command";
	}

	@Override
	public byte[] execute(CommandExecutionUnit ceu) {
		ceu.setVelocity(paramVal);
		return super.execute(ceu);
	}
}