_librk_motors.h

#pragma once
 
#include <stdint.h>
 
#include "RBControl_pinout.hpp"
#include "roboruka.h"
 
namespace rk {
 
class Motors {
public:
    Motors();
    ~Motors();
 
    void setup(const rkConfig& cfg);
 
    void set(int8_t left, int8_t right);
    void set(int8_t left, int8_t right, uint8_t power_left, uint8_t power_right);
    void setById(rb::MotorId id, int8_t power);
    void joystick(int32_t x, int32_t y);
 
    rb::MotorId idLeft() const { return m_id_left; }
    rb::MotorId idRight() const { return m_id_right; }
 
private:
    Motors(const Motors&) = delete;
 
    int32_t scale(int32_t val);
 
    rb::MotorId m_id_left;
    rb::MotorId m_id_right;
    bool m_polarity_switch_left;
    bool m_polarity_switch_right;
};
 
}; // namespace rk