Motion.h

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#ifndef Motion_h
#define Motion_h
#include <stdint.h>
#include <Arduino.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include "driver/ledc.h"
#include "motionDetection/MotionDetection.h"
#define LEDC_MODE          LEDC_LOW_SPEED_MODE
#define TIMER              LEDC_TIMER_2
#define CHANNEL_LEFT       LEDC_CHANNEL_3 
#define CHANNEL_RIGHT      LEDC_CHANNEL_4  
#define DUTY_RES           LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
#define FREQUENCY          (5000) // Frequency in Hertz. Set frequency at 5 kHz
#define DEFAULT_BASE_VALUE  3900
class Motor{
    public:
        Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
        
        void begin(void);
        
        void setSpeed(uint16_t duty);
        
        uint16_t getSpeed(void); 
    protected:
        uint8_t pin;
        ledc_timer_t timer;
        ledc_channel_t channel;
       
        uint16_t duty;
};
 
class Motion{
protected:
    static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
    static inline uint16_t LEFT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
    static const int MOTOR_RIGHT_PIN = 11; 
    static const int MOTOR_LEFT_PIN = 12;
    static void moveTask(void * args);
    static void leftMotorTask(void * args);
    static void rightMotorTask(void * args);
    static inline TaskHandle_t xMoveTaskHandle = NULL;
    static inline TaskHandle_t xClockwiseTaskHandle = NULL;
    static inline TaskHandle_t xAntiClockwiseTaskHandle = NULL;
    static inline TickType_t xLastWakeTime;
 
    static inline FIFO_Package* buffer = new FIFO_Package[64];
    static inline int correctionThreshold = 150; 
 
public:
    //Instances of the motors, so they can also be used from outside to set values for the motors directly.
    static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
    static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
    
    //MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
    static inline MotionDetection detection;
 
    void begin(void);
 
    static void move(uint32_t moveForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
 
    static void rotateClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
    
    static void rotateAntiClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
 
    static void stop(void);
 
    static void moveWithoutCorrection(uint32_t moveForMs=0, uint baseValue = DEFAULT_BASE_VALUE);
 
};
 
 
#endif //Motion_h