// 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 <cstdint>
#include "Arduino.h"
#include "string.h"
#include "driver/ledc.h"


class BrushedMotor {
    // TODO: rewrite with MCPWM
public:
    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(uint32_t duty) const;

    void setExtendedDuty(int32_t duty);

    [[nodiscard]] uint32_t maxDuty() const;

    void forward();

    void backward();

    void reverse();

    void coast();

private:
    uint8_t _channel;
    uint32_t _frequency;
    uint32_t _resolution;

    uint32_t _pwmAGpioNum;
    uint32_t _pwmBGpioNum;
    bool _forward_directional;
    String _tag_name = "BrushedMotor";

    void _apply_directional() const;
};