Wheeledbase/lib/motors/include/DRV8876.h

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//
// Created by Romain Pouvreau on 15/04/2026.
//
 
#ifndef MOTORS_DRV8876_H
#define MOTORS_DRV8876_H
 
#ifdef ARDUINO
#include <Arduino.h>
#elif ESP_PLATFORM
//#error "Not implemented"
#endif
 
#include <cmath>
 
#include "AbstractDriver.h"
class DRV8876 : public AbstractDriver
{
public:
    DRV8876(int enPin, int phPin, int sleepPin = -1, int faultPin = -1);

    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_enPin; 
    int m_phPin; 
    int m_sleepPin; 
    int m_faultPin; 
    float m_currentVelocity; 
};
#endif //MOTORS_DRV8876_H