SeeedGroveI2cMotorDriver.h

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#pragma once

#include "I2c.h"
#include "Libraries/Treehopper.Libraries.h"
#include "SMBusDevice.h"

namespace Treehopper {
    namespace Libraries {
        namespace Motors {
            class LIBRARIES_API SeeedGroveI2cMotorDriver {
            public:
                enum class Registers {
                    MotorSpeedSet = 0x82,
                    PwmFrequencySet = 0x84,
                    DirectionSet = 0xaa,
                    MotorSetA = 0xa1,
                    MotorSetB = 0xa5,
                    Nothing = 0x01
                };

                enum class MotorSetDirection {
                    BothClockwise = 0x0a,
                    BothCounterClockwise = 0x05,
                    Motor1ClockwiseMotor2CounterClockwise = 0x06,
                    Motor1CounterClockwiseMotor2Clockwise = 0x09
                };

                enum class PrescalerFrequency {
                    Freq_31372Hz = 0x01,
                    Freq_3921Hz = 0x02,
                    Freq_490Hz = 0x03,
                    Freq_122Hz = 0x04,
                    Freq_30Hz = 0x05
                };

                SeeedGroveI2cMotorDriver(I2c &i2c, bool a1, bool a2, bool a3, bool a4);

                SeeedGroveI2cMotorDriver(I2c &i2c, uint8_t address = 0x0f);

                PrescalerFrequency frequency();

                void frequency(PrescalerFrequency value);

                double motor1();

                void motor1(double speed);

                double motor2();

                void motor2(double speed);

            private:
                double m1 = 0;
                double m2 = 0;
                PrescalerFrequency freq;
                SMBusDevice dev;

                void update();
            };
        }
    }
}