#ifndef I2C_MOTOR_H
#define I2C_MOTOR_H

#include <Arduino.h>
#include <Wire.h>

class I2CMotor {
public:
    I2CMotor();
    I2CMotor(uint8_t sda = 8, uint8_t scl = 3, uint32_t freq = 100000);
    void begin();
    bool found();
    uint8_t address();
    String identify();
    void setDeviceName(const char* newname);
    void setMinMax(uint8_t min_pwm, uint8_t max_pwm);
    void setMotorDirection(uint8_t motor, uint8_t dir);
    void setMotorSpeed(uint8_t motor, uint8_t speed_percent);
    void allStop(); // Renamed from emergencyStop

    // New: Set address at runtime
    void setAddress(uint8_t addr);

    // --- New functions for L298N motor control ---
    bool motorControl(uint8_t motor, uint8_t speed_percent, uint8_t direction);
    bool bothMotorsControl(uint8_t speedA, uint8_t dirA, uint8_t speedB, uint8_t dirB);
    void stopAllMotors();

private:
    uint8_t sda_, scl_;
    uint32_t freq_;
    uint8_t slave_addr_;

    uint8_t scanForMotorController();
    String queryIdentification(uint8_t addr);
};

#endif