#include <stdint.h>

// TODO: implement class

class BrushedMotor {
    /* Driver for native MCPWM controller. */
    // TODO: define default values
  public:
    BrushedMotor(uint32_t PwmAGpioNum, uint32_t PwmBGpioNum, uint32_t PwmFreqHz,
                 uint32_t McpwmResolutionHz, int McpwmGroupId = 0);
    void setDuty(uint16_t duty);
    uint16_t maxDuty();
    void enable();
    void disable();
    void forward();
    void reverse();
    void coast();
    void brake();

  protected:
    /* MCPWM group */
    int _mcpwmGroupId = 0;
    uint32_t _mcpwmResolutionHz;

    /* Brushed motor properties */
    uint32_t _pwmAGpioNum;
    uint32_t _pwmBGpioNum;
    uint32_t _pwmFreqHz;
};