#pragma once

#include "Thing.h"
#include "Things/DifferentialDrive.h"

namespace RoboidControl {
namespace Arduino {

/// @brief Support for a DRV8833 motor controller
class DRV8833Motor : public Thing {
 public:
  /// @brief Motor turning direction
  enum class RotationDirection { Clockwise = 1, CounterClockwise = -1 };

  /// @brief Setup the DC motor
  /// @param pinIn1 the pin number for the in1 signal
  /// @param pinIn2 the pin number for the in2 signal
  /// @param direction the forward turning direction of the motor
  DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse = false);
  void SetMaxRPM(unsigned int rpm);

  virtual void SetAngularVelocity(Spherical velocity) override;

  bool reverse = false;

 protected:
  unsigned char pinIn1 = 255;
  unsigned char pinIn2 = 255;
  unsigned int maxRpm = 200;
};

class DRV8833 : public Thing {
 public:
  /// @brief Setup a DRV8833 motor controller
  /// @param pinAIn1 The pin number connected to the AIn1 port
  /// @param pinAIn2 The pin number connected to the AIn2 port
  /// @param pinBIn1 The pin number connected to the BIn1 port
  /// @param pinBIn2 The pin number connceted to the BIn2 port
  /// @param pinStandby The pin number connected to the standby port, 255
  /// indicated that the port is not connected
  /// @param reverseA The forward turning direction of motor A
  /// @param reverseB The forward turning direction of motor B
  DRV8833(Participant* participant,
          unsigned char pinAIn1,
          unsigned char pinAIn2,
          unsigned char pinBIn1,
          unsigned char pinBIn2,
          unsigned char pinStandby = 255,
          bool reverseA = false,
          bool reverseB = false);

  DRV8833Motor* motorA = nullptr;
  DRV8833Motor* motorB = nullptr;

 protected:
  unsigned char pinStandby = 255;
};

}  // namespace Arduino
}  // namespace RoboidControl