#include "motor.h"
#include "pwm.h"

#include "inc/msp432p401r.h"

// Initialize GPIO pins for output, which will be
// used to control the direction of the motors and
// to enable or disable the drivers.
// The motors are initially stopped, the drivers
// are initially powered down, and the PWM speed
// control is uninitialized.
void MotorInit(void) {
    // write this code
}

// Stop the motors, power down the drivers, and
// set the PWM speed control to 0% duty cycle.
void MotorStop(void) {
    P2->OUT &= ~0xC0;   // off
    P3->OUT &= ~0xC0;   // low current sleep mode
    SetPWMDutyLeftMotor(0);
    SetPWMDutyRightMotor(0);
}

// Left and right wheels forward with the given duty cycles. 
// Duty cycle is 0 to 14,998.
void MotorForward(uint16_t left_duty, uint16_t right_duty) { 
    // write this code
}

// Left and right wheels backward with the given duty cycles.
// Duty cycle is 0 to 14,998.
void MotorBackward(uint16_t left_duty, uint16_t right_duty) { 
    // write this code
}

// Left wheel backward, right wheel forward with the given duty cycles.
// Duty cycle is 0 to 14,998.
void MotorLeft(uint16_t left_duty, uint16_t right_duty) { 
    // write this code
}

// Left wheel forward, right wheel backward with the given duty cycles. 
// Duty cycle is 0 to 14,998.
void MotorRight(uint16_t left_duty, uint16_t right_duty) { 
    // write this code
}