Brushed motors drivers were implemented

src/Motor/BrushedMotor.hpp

@@ -1,40 +1,41 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
 
-#include <stdint.h>
+#include <cstdint>
+#include "Arduino.h"
+#include "string.h"
+#include "driver/ledc.h"
 
-// TODO: implement class
 
 class BrushedMotor {
-    /* Driver for native MCPWM controller. */
-    // TODO: define default values
+    // TODO: rewrite with MCPWM
 public:
-    BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
-                 uint32_t McpwmResolutionHz, int McpwmGroupId = 0);
+    BrushedMotor(uint32_t pwmAGpioNum, uint32_t pwmBGpioNum, uint32_t frequency,
+                 uint8_t channel, uint8_t resolution, const char *name = "Rotor1", bool forward_directional = true);
 
-    void setDuty(uint16_t duty);
+    void setDuty(uint32_t duty) const;
 
-    uint16_t maxDuty();
+    void setExtendedDuty(int32_t duty);
 
-    void enable();
-
-    void disable();
+    [[nodiscard]] uint32_t maxDuty() const;
 
     void forward();
 
+    void backward();
+
     void reverse();
 
     void coast();
 
-    void brake();
+private:
+    uint8_t _channel;
+    uint32_t _frequency;
+    uint32_t _resolution;
 
-protected:
-    /* MCPWM group */
-    int _mcpwmGroupId = 0;
-    uint32_t _mcpwmResolutionHz;
-
-    /* Brushed motor properties */
     uint32_t _pwmAGpioNum;
     uint32_t _pwmBGpioNum;
-    uint32_t _pwmFreqHz;
+    bool _forward_directional;
+    String _tag_name = "BrushedMotor";
+
+    void _apply_directional() const;
 };