#ifndef OMNIWHEEL_MOTORS_HPP
#define OMNIWHEEL_MOTORS_HPP

#include <Arduino.h>
#include <Wire.h>

class OmniWheelMotors {
public:
    struct Motor {
        int R_PWM;
        int L_PWM;
    };

    OmniWheelMotors(int m1_r_pwm, int m1_l_pwm, 
                   int m2_r_pwm, int m2_l_pwm, 
                   int m3_r_pwm, int m3_l_pwm);

    // Initialize the motors
    void begin();
    
    // Basic movement functions
    void moveForward(int speed);
    void moveBackward(int speed);
    void moveLeft(int speed);
    void moveRight(int speed);
    void rotateClockwise(int speed);
    void rotateCounterClockwise(int speed);
    // Rotation functions
    void rotate360();
    void rotateToAngle(int targetAngle);
    
    // Stop all motors
    void stop();
    
    // Direct motor control
    void setMotorSpeed(Motor motor, int rightSpeed, int leftSpeed);
    
    // Set maximum and minimum speed limits
    void setSpeedLimits(int min, int max);
    
    // Set time for full rotation
    void setRotationTime(int milliseconds);

private:
    Motor motor_1;   // First motor
    Motor motor_2;   // Second motor
    Motor motor_3;   // Third motor
    
    int MAX_SPEED;   // Maximum speed value
    int MIN_SPEED;   // Minimum speed value for stable movement
    int FULL_ROTATION_TIME;  // Time for 360 degrees in milliseconds
};

#endif // OMNIWHEEL_MOTORS_HPP