MotorAdapter.h

//
// Created by Tucker Haydon on 4/25/17.
//

#pragma once

#include "hardwareinterface/IHardwareInterface.h"
#include "hardwareinterface/AdafruitPWMServoHat.h"
#include "messages/IMessage.h"
#include "messages/MotorMessage.h"
#include <stdlib.h>
#include "exceptions/MismatchedMessageException.h"

class MotorAdapter : public IHardwareInterface {
public:

    MotorAdapter(AdafruitPWMServoHat* m_pwmHat, int forwardPin, int backwardPin);

    ~MotorAdapter() override;

    void write(IMessage* msg) override;

    std::list<IMessage*>* read() override {
        return new std::list<IMessage*>;
    };

private:
    AdafruitPWMServoHat* m_pwmHat;
    int forwardPin, backwardPin;

    void driveMotor(int speed);


};