Wheeledbase/lib/motors/include/DRV8844.h

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//
// Created by Romain Pouvreau on 15/04/2026.
//
 
#ifndef MOTORS_DRV8844_H
#define MOTORS_DRV8844_H
 
#include "mathutils.h"
#include "AbstractDriver.h"
#include <iostream>
 
#ifdef ARDUINO
#include <Arduino.h>
#elif ESP_PLATFORM
 
#endif
 
 
class DRV8844 : public AbstractDriver
{
public:
    DRV8844(int m1_en, int m1_dir, int m1_pwm, int m2_en, int m2_dir, int m2_pwm, int fault, int rst);

    void init();

    int attach(AbstractMotor* motor) override;

    int attach(AbstractMotor* motor, uint8_t id) override;

    void setVelocity(float velocity, uint8_t id) override;

    float getVelocity(uint8_t id) const override;

    bool isFaulty() const;

    void setSleep(bool active);
 
private:
    int m_m1_en;
    int m_m1_dir;
    int m_m1_pwm;
    int m_m2_en;
    int m_m2_dir;
    int m_m2_pwm;
    int m_fault;
    int m_rst;
 
    float m_currentVelocity[2] {}; 
};
 
 
 
#endif //MOTORS_DRV8844_H