#ifndef L298N_ESP32_h
#define L298N_ESP32_h

#include <Arduino.h>

class L298N_ESP32 {
private:
    uint8_t in1Pin;
    uint8_t in2Pin;
    uint8_t enPin;
    uint8_t pwmChannel;
    uint8_t _speed;
    uint8_t _min_speed = 0;
    uint8_t _max_speed = 255;
    bool _invert = false;

    void checkWrite(uint8_t value) {
        if (_speed != value) {
            _speed = value;
            analogWrite(enPin, _speed);
        }
    }

public:
    L298N_ESP32(uint8_t in1, uint8_t in2, uint8_t en, uint8_t channel = 0) :
        in1Pin(in1), in2Pin(in2), enPin(en), pwmChannel(channel), _speed(0) {}

    void begin() {
        pinMode(in1Pin, OUTPUT);
        pinMode(in2Pin, OUTPUT);
        digitalWrite(in1Pin, LOW);
        digitalWrite(in2Pin, LOW);
        analogWriteResolution(enPin, 8);
        analogWriteFrequency(enPin, 2000);
        checkWrite(0);
    }

    void setMin(uint8_t value) {
        _min_speed = value;
    }

    void setMax(uint8_t value) {
        _max_speed = value;
    }

    void invert() {
        _invert = !_invert;
    }

    void forward() {
        if (!_invert) {
            digitalWrite(in1Pin, LOW);
            digitalWrite(in2Pin, HIGH);
        } else {
            digitalWrite(in1Pin, HIGH);
            digitalWrite(in2Pin, LOW);
        }
    }

    void backward() {
        if (!_invert) {
            digitalWrite(in1Pin, HIGH);
            digitalWrite(in2Pin, LOW);
        } else {
            digitalWrite(in1Pin, LOW);
            digitalWrite(in2Pin, HIGH);
        }
    }

    void goMin() {
        checkWrite(_min_speed);
    }

    void goMax() {
        checkWrite(_max_speed);
    }

    void setSpeed(uint8_t speed) {
        speed = constrain(speed, _min_speed, _max_speed);
        checkWrite(speed);
    }

    // Modified setPercentage function
    void setPercentage(uint8_t percentage) {
      percentage = constrain(percentage, 0, 100);
      uint8_t speed = map(percentage, 0, 100, _min_speed, _max_speed);
      checkWrite(speed);
    }

    void override(uint8_t value) {
        ledcWrite(pwmChannel, value);
    }

    void stop() {
        digitalWrite(in1Pin, LOW);
        digitalWrite(in2Pin, LOW);
        checkWrite(0);
    }
};

#endif