MinumelArmMCU/AdafruitPWMBoard.hpp

#pragma once
#include <Arduino.h>
#include <Adafruit_PWMServoDriver.h>

// Wrapper class to prevent duplicate motor port assignments
// This board can drive up to 16 motors
class AdafruitPWMBoard
{
    public:
        AdafruitPWMBoard(const uint8_t addr, const uint8_t pwmFreq);
        AdafruitPWMBoard(const AdafruitPWMBoard& other) = delete;
        AdafruitPWMBoard(AdafruitPWMBoard&&) noexcept = default;

        Adafruit_PWMServoDriver& get() noexcept { return hwif; };
        const Adafruit_PWMServoDriver& get() const noexcept { return hwif; };
        bool isGood() const noexcept { return good; }
        bool isMotorSlotOccupied(const uint8_t motorIndex) const noexcept;
        // Returns false if the slot is already occupied or index is out of range
        bool occupyMotorSlot(const uint8_t motorIndex) noexcept;
        // Returns false if the slot is already free or index is out of range
        bool releaseMotorSlot(const uint8_t motorIndex) noexcept;


    private:
        // No release needed, hardware interface does not expose any method for release
        Adafruit_PWMServoDriver hwif;
        bool good;
        uint16_t occupiedMotorSlots = 0;
};