/**
 * @file Motion.cpp
 * @author Jonathan Schulze, Nick Hübenthal
 * @brief Implementation of the Motion class.
 * @version 0.1
 * @date 2023-12-13
 * 
 * @copyright Copyright (c) 2023
 * 
 */

#include "Motion.h"

// Constructor
Motion::Motion() {
    
}

// Initialize the movement component.
void Motion::begin(void) {
    
}
void moveTask(void * moveForMs) {
    analogWrite(MOTOR_LEFT_PIN, 128);
    analogWrite(MOTOR_RIGHT_PIN, 128);
    vTaskDelay((uint32_t) moveForMs);
    analogWrite(MOTOR_LEFT_PIN, 0);
    analogWrite(MOTOR_RIGHT_PIN, 0);
}

// Move forward for a certain amount of time.
void Motion::move(uint32_t moveForMs) {
    xTaskCreate(moveTask, "Move", configMINIMAL_STACK_SIZE, (void*)moveForMs, 1, NULL);
}


// Rotate clockwise for a certain amount of time.
void Motion::rotateClockwise(uint32_t rotateForMs) {

}

// Rotate anticlockwise for a certain amount of time.
void Motion::rotateAnticlockwise(uint32_t rotateForMs) {

}