#ifndef DRV8701_H
#define DRV8701_H

#include "freertos/idf_additions.h"

// Enable PWM for speed control
// Phase chooses direction

typedef struct {
    uint8_t en_pin;
    uint8_t ph_pin;

    uint8_t pwm_group_num; 

    // Do not populate, done as part of task creation
    QueueHandle_t in_ctrl_queue;
    SemaphoreHandle_t current_mutex; 

} drv8701_task_config_t;


/**
 * @brief Launch the motor driver task
 *
 * @param motor_cfg The configuration for the motor driver
 */
void drv8701_task(void *args);

/**
 * @brief Set the velocity of a specific motor driver  
 *
 * @param motor_cfg The configuration for the specific motor driver
 * @param velocity -1.0 to 1.0
 */
void set_motor_vel(drv8701_task_config_t *motor_cfg, float velocity);


#endif