/****************************************************************************

  Header file for Control Library

 ****************************************************************************/

#ifndef ControlLibrary_H
#define ControlLibrary_H


//Timer initializations
void InitInputCapturePeriod(void);
void InitPeriodicTimers(void);

//Enable/disable 2ms periodic timer (for efficiency)
void EnablePeriodicTimers(void);
void DisablePeriodicTimers(void);

//ISRs
void ControlPWMTimerResponseA(void);
void ControlPWMTimerResponseB(void);
void InputCaptureResponseA(void);
void InputCaptureResponseB(void);

int32_t QuerySpeedA(void);
int32_t QuerySpeedB(void);

void Drive(bool Direction);
void RotateLeft(void);
void RotateRight(void);
void Stop(void);
void RotateControl(int16_t HeadingChange);

int16_t getDutyA(void);
int16_t getDutyB(void);

int32_t EncoderA(void);
int32_t EncoderB(void);


uint32_t getFB(void);
int32_t getFA(void);

void ResetRPM(void);
#endif