/**
 * Claude's Eyes - Motor Control Header
 *
 * Controls the 4WD drive system (2 motors per side)
 */

#ifndef MOTOR_CONTROL_H
#define MOTOR_CONTROL_H

#include <Arduino.h>

// Movement directions
enum MotorDirection {
    DIR_STOP,
    DIR_FORWARD,
    DIR_BACKWARD,
    DIR_LEFT,       // Turn left (pivot)
    DIR_RIGHT,      // Turn right (pivot)
    DIR_SOFT_LEFT,  // Soft turn left (one side slower)
    DIR_SOFT_RIGHT  // Soft turn right (one side slower)
};

class MotorControl {
public:
    MotorControl();

    /**
     * Initialize motor pins and PWM
     * @return true if successful
     */
    bool begin();

    /**
     * Move in a direction for a specified duration
     * @param direction Movement direction
     * @param speed Speed (0-100 percent)
     * @param duration_ms Duration in milliseconds (0 = continuous)
     */
    void move(MotorDirection direction, int speed = 50, unsigned long duration_ms = 0);

    /**
     * Stop all motors immediately
     */
    void stop();

    /**
     * Check if motors are currently active
     */
    bool isMoving() { return _isMoving; }

    /**
     * Get current direction
     */
    MotorDirection getCurrentDirection() { return _currentDirection; }

    /**
     * Get current speed (0-100)
     */
    int getCurrentSpeed() { return _currentSpeed; }

    /**
     * Get direction as string
     */
    const char* getDirectionString();

    /**
     * Update motor state (call from loop for timed movements)
     */
    void update();

    /**
     * Enable/disable motors (safety feature)
     */
    void setEnabled(bool enabled) { _enabled = enabled; if (!enabled) stop(); }
    bool isEnabled() { return _enabled; }

private:
    bool _initialized;
    bool _enabled;
    bool _isMoving;
    MotorDirection _currentDirection;
    int _currentSpeed;
    unsigned long _moveStartTime;
    unsigned long _moveDuration;

    // Internal motor control
    void setMotorA(int speed);  // -255 to 255
    void setMotorB(int speed);  // -255 to 255
    int percentToSpeed(int percent);
};

// Global instance
extern MotorControl Motors;

#endif // MOTOR_CONTROL_H