motors.h

#ifndef MOTORS_INCLUDED
#define MOTORS_INCLUDED

// 800 for 20kHz = 16MHz/800 PWM
#define PWM_MAX 800

class Motors {

 public:
  void begin();
  void setPower(int lr, int power);

  void setPowers(int leftPower, int rightPower);


  long getTicks(int lr);

  long getDt(int lr);
  long getLastTicks(int lr);

  long* getTicksArray();

  long* getDtArray();

  
  long* getLastTicksArray();

  void resetCounters();

  
  private:
    // Left fwd, Left bkwd, Right fwd, Right bkwd
    int mpins[4] = {5,6,7,8};  // PWM-pins on timers 3 (2,3,5) and 4 (6,7,8)
    // sensor pins: left, right
    int spins[2]={2,3};
};

#endif