#ifndef MOTOR_H
#define MOTOR_H

#include <Arduino.h>
#include "config.h"

// Stall callback function type
typedef void (*StallCallback)();

class MotorController {
public:
    // Constructor with pin configuration and motor name
    MotorController(const MotorPins& pins, const char* name);
    
    void begin();
    void setSpeed(int speed);        // 0-100 percentage
    void setDirection(int dir);      // -1=reverse, 0=stop, 1=forward
    void stop();
    void update();                   // Call in loop() for current monitoring
    
    int getSpeed();
    int getDirection();
    float getCurrentRight();         // Current in amps (forward direction)
    float getCurrentLeft();          // Current in amps (reverse direction)
    float getCurrentActive();        // Current from active direction
    const char* getName();           // Get motor name for logging
    
    // Stall detection
    bool isStalled();
    void setStallCallback(StallCallback callback);
    void resetStallDetection();
    
private:
    MotorPins _pins;
    const char* _name;
    
    int _speed = 0;
    int _direction = 0;
    float _currentRight = 0;
    float _currentLeft = 0;
    
    // ADC zero-current offset (calibrated at startup)
    int _adcOffsetRight = 0;
    int _adcOffsetLeft = 0;
    
    // Stall detection state
    bool _stalled = false;
    int _stallConfirmCount = 0;
    StallCallback _stallCallback = nullptr;
    unsigned long _lastDirectionChangeTime = 0;
    
    // Static flag to track if enable pins are already configured
    static bool _enablePinsConfigured;
    
    void applyMotorState();
    float readCurrentSense(int pin);
    void calibrateCurrentOffset();
    void checkStall();
};

// Two motor controller instances
extern MotorController motor1;
extern MotorController motor2;

// Legacy alias for backwards compatibility
#define motor motor1

#endif