walker_control/include/motor.h

#ifndef MOTOR_H
#define MOTOR_H

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

class MotorController {
public:
    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 stall detection
    
    int getSpeed();
    int getDirection();
    float getCurrentRight();         // Current in amps (forward direction)
    float getCurrentLeft();          // Current in amps (reverse direction)
    float getCurrentActive();        // Current from active direction
    bool isStalled();                // True if stall detected
    
    // Callback for stall events
    void setStallCallback(void (*callback)(float current));
    
    // Pingpong mode
    void startPingpong(int speed, int timeMs, int speedRandomPercent, int timeRandomPercent);
    void stopPingpong();
    bool isPingpongActive();
    int getPingpongSpeed();
    int getPingpongTime();
    int getPingpongSpeedRandom();
    int getPingpongTimeRandom();

private:
    int _speed = 0;
    int _direction = 0;
    float _currentRight = 0;
    float _currentLeft = 0;
    bool _stalled = false;
    unsigned long _stallStartTime = 0;
    void (*_stallCallback)(float current) = nullptr;
    
    // Pingpong state
    bool _pingpongActive = false;
    int _pingpongBaseSpeed = 50;
    int _pingpongBaseTime = 2000;
    int _pingpongSpeedRandomPercent = 0;
    int _pingpongTimeRandomPercent = 0;
    int _pingpongCurrentSpeed = 50;
    int _pingpongCurrentTime = 2000;
    unsigned long _pingpongLastSwitch = 0;
    int _pingpongDirection = 1;
    
    void applyMotorState();
    float readCurrentSense(int pin);
    void checkStall();
    void updatePingpong();
    int applyRandomness(int baseValue, int randomPercent);
};

extern MotorController motor;

#endif