motors/include/AbstractDriver.h

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#ifndef MOTORS_ABSTRACTDRIVER_H
#define MOTORS_ABSTRACTDRIVER_H
 
#define MAX_MOTOR_IN_DRIVER 2
 
#include <cstdint>
 
class AbstractMotor;
 

class AbstractDriver {
public:
    virtual ~AbstractDriver() = default;

    virtual int attach(AbstractMotor* motor) = 0;

    virtual int attach(AbstractMotor* motor, uint8_t id) = 0;

    virtual void detach(const int id) {
        m_motors[id] = nullptr;
    }

    virtual void setVelocity(float velocity, uint8_t id) = 0;

    virtual float getVelocity(uint8_t id) const = 0;

    AbstractMotor* getMotor(const int id) const {
        if (id < 0 || id >= MAX_MOTOR_IN_DRIVER) return nullptr;
        return m_motors[id];
    }
protected:
    AbstractMotor* m_motors[MAX_MOTOR_IN_DRIVER] = {};
};
 
#endif //MOTORS_ABSTRACTDRIVER_H