#ifndef motor_control_h
#define motor_control_h

#include "../common/shared_structs.h"

#define MOTOR_PWM_FREQ 500 // PWM frequency in Hz

#define MOTOR_CONTROL_PERIOD_MS 100 // Period of the motor control loop

#define MAX_DUTY_RAMP 10.0 // max change in duty per second - where 1.0 is full duty

#define MIN_DUTY 0.10 // min duty for each motor
#define MAX_DUTY 0.55 // max duty for each motor - Needs to be below 0.33 to avoid overlapping the three motor phases

#define DEFAULT_KP        0.0
#define DEFAULT_KI        5.0
#define DEFAULT_KD        0.0
#define DEFAULT_OP_OFFSET 0.0

void set_motor_control(motor_id_t motor_id, motor_control_t new_control);

void set_motor_params(motor_id_t motor_id, motor_parameters_t new_params);

motor_control_t get_motor_control(motor_id_t motor_id);

motor_parameters_t get_motor_parameters(motor_id_t motor_id);

float get_motor_duty(motor_id_t motor_id);

void motor_control_setup(void);

#endif