/* Constants and methodswe'll need for the pi hat.
 * Methods and header definitions from a RPI forum thread,
 * specifically, the post by garagebrewer:
 * https://www.raspberrypi.org/forums/viewtopic.php?t=112415&p=770234
 */
#define word    unsigned short

#define ADAFRUIT_MOTORHAT       0x60

#define PWM_M1_PWM      8
#define PWM_M1_IN2      9
#define PWM_M1_IN1      10
#define PWM_M2_PWM      13
#define PWM_M2_IN2      12
#define PWM_M2_IN1      11
#define PWM_M3_PWM      2
#define PWM_M3_IN2      3
#define PWM_M3_IN1      4
#define PWM_M4_PWM      7
#define PWM_M4_IN2      6
#define PWM_M4_IN1      5

#define PWM_FREQUENCY   1600.0
#define PWM_PRESCALE    0xFE

#define PWM_MODE1       0x00
#define PWM_MODE2       0x01
#define PWM_LED0_ON_L   0x06
#define PWM_LED0_ON_H   0x07
#define PWM_LED0_OFF_L  0x08
#define PWM_LED0_OFF_H  0x09

#define PWM_RESTART     0x80
#define PWM_SLEEP       0x10
#define PWM_ALLCALL     0x01
#define PWM_INVRT       0x10
#define PWM_OUTDRV      0x04

#define PWM_ALL_LED_ON_L        0xFA
#define PWM_ALL_LED_ON_H        0xFB
#define PWM_ALL_LED_OFF_L       0xFC
#define PWM_ALL_LED_OFF_H       0xFD

#define MOTOR_FORWARD       12
#define MOTOR_BACK          2
#define MOTOR_BRAKE         3
#define MOTOR_RELEASE       4
#define MOTOR_RIGHT         5
#define MOTOR_LEFT          6
#define MOTOR_PIVOT_RIGHT    7
#define MOTOR_PIVOT_LEFT     8

void setAllPWM(word i2c, word on, word off);
void setPWM(word i2c, word pin, word on, word off);
void setPin(word i2c, word pin, word value);
void runMotor(word i2c, word motor, word command);
void setSpeed(word i2c, word motor, word speed);
void initMotor(word i2c, word motor);