#pragma once

#include <Arduino.h>

#include "motor.h"

class MotorControl : public Motor{
    public:
        MotorControl(ShiftRegister* shiftRegister, uint8_t pwmPin, 
                     uint8_t dirPinA, uint8_t dirPinB, uint8_t endstopPinA,
                     uint8_t endstopPinB);

        void loop();
        bool start() override;

        bool getEndStopLeft();
        bool getEndStopRight();

    private:
        Direction endstopTouched = Direction::None;
        bool readPin(uint8_t pin);

        uint8_t endstopPinA;
        uint8_t endstopPinB;

        uint32_t lastMillis = 0;
        uint8_t loopDelay = 20;
};