/**
 * @file stepperDrv.hpp
 * @author Gustice
 * @brief Abstraction for Stepper driver
 *
 * @copyright Copyright (c) 2024
 */
#pragma once

#include "gpioPort.hpp"
#include "pwmPort.hpp"
#include <array>
#include <vector>

class StepperDriver {
  public:
    struct StepCplx {
        int8_t increment{};
        uint8_t subPos{};
    };

    StepperDriver(int resolution)
        : Resolution(resolution), Quad(Resolution / 4) {}
    virtual StepCplx fullStep(int8_t cnt) = 0;
    virtual StepCplx step(int8_t cnt) = 0;
    virtual StepCplx setPos(uint8_t pos) = 0;
    uint8_t getSubPos() {
        return _position;
    }

  protected:
    const uint8_t Resolution;
    const uint8_t Quad;
    int8_t _position{};
    virtual void setOutput(uint8_t pos) = 0;
};