/*
 * peripherals_motors.hpp
 *
 *  Created on: Feb 24, 2021
 *      Author: erki
 */

#ifndef PERIPHERALS_MOTORS_HPP_
#define PERIPHERALS_MOTORS_HPP_

#include "peripherals_io.hpp"

#include <tim.h>

#include "peripherals_pwm_channel.hpp"

namespace Peripherals
{

class IMotors
{
public:
	struct TwoChannelMotorData
	{
		PwmChannel forward;
		PwmChannel backward;
	};

	virtual void Set(const std::int16_t left, const std::int16_t right) = 0;
	virtual void Coast() = 0;
	virtual void Break() = 0;
	virtual void Unbreak() = 0;
};

class DualDrvMotors : public IMotors
{
public:
	DualDrvMotors(const IMotors::TwoChannelMotorData& left, const IMotors::TwoChannelMotorData& right, const IO& sleep_pin);

	virtual void Set(const std::int16_t left, const std::int16_t right) override;
	virtual void Coast() override;
	virtual void Break() override;
	virtual void Unbreak() override;

private:
	IMotors::TwoChannelMotorData _left;
	IMotors::TwoChannelMotorData _right;
	IO _sleep_pin;
};

}


#endif /* PERIPHERALS_MOTORS_HPP_ */