enum MabniMotor {
    //% block="left motor"
    Left = 0,
    //% block="right motor"
    Right = 1
}

/** Motor-driver signals. A motor needs its own power and driver, never a bare GPIO pin. */
//% color="#098C92" icon="\uf013" weight=89 block="Motors & Robots"
//% groups='["Drive", "Wiring"]'
namespace mabniMotors {
    let directionA: DigitalPin[] = [DigitalPin.P8, DigitalPin.P13];
    let directionB: DigitalPin[] = [DigitalPin.P12, DigitalPin.P14];
    let speedPins: AnalogPin[] = [AnalogPin.P16, AnalogPin.P15];

    /** Choose the IN1, IN2 and EN/PWM signals of an external H-bridge motor driver. */
    //% blockId=mabni_motor_wiring block="wire %motor IN1 %a IN2 %b PWM %pwm"
    //% group="Wiring" weight=30
    export function configure(motor: MabniMotor, a: DigitalPin, b: DigitalPin, pwm: AnalogPin): void {
        stop(motor);
        directionA[motor] = a;
        directionB[motor] = b;
        speedPins[motor] = pwm;
        stop(motor);
    }

    /** Positive speed goes forward, negative speed reverses. Supply motor power through a driver. */
    //% blockId=mabni_motor_run block="run %motor at %speed percent"
    //% speed.min=-100 speed.max=100 speed.defl=40
    //% group="Drive" weight=100
    export function run(motor: MabniMotor, speed: number): void {
        speed = Math.clamp(-100, 100, speed);
        pins.analogWritePin(speedPins[motor], 0);
        pins.digitalWritePin(directionA[motor], 0);
        pins.digitalWritePin(directionB[motor], 0);
        if (speed > 0) pins.digitalWritePin(directionA[motor], 1);
        if (speed < 0) pins.digitalWritePin(directionB[motor], 1);
        pins.analogWritePin(speedPins[motor], Math.round(Math.abs(speed) * 1023 / 100));
    }

    /** Remove the PWM drive signal and leave both direction signals low. */
    //% blockId=mabni_motor_stop block="stop %motor"
    //% group="Drive" weight=95
    export function stop(motor: MabniMotor): void { run(motor, 0); }

    /** Set the two motor speeds separately, for straight driving or turning. */
    //% blockId=mabni_robot_drive block="robot left speed %left percent right speed %right percent"
    //% left.min=-100 left.max=100 left.defl=40
    //% right.min=-100 right.max=100 right.defl=40
    //% group="Drive" weight=90
    export function drive(left: number, right: number): void {
        run(MabniMotor.Left, left);
        run(MabniMotor.Right, right);
    }

    /** Stop both motor-driver outputs. */
    //% blockId=mabni_robot_stop block="stop robot motors"
    //% group="Drive" weight=85
    export function stopAll(): void { drive(0, 0); }
}