text: // The MIT License (MIT)
  //
  // Copyright (c) 2018 M5Stack
  // Author: bin@m5stack.com (0x1abin)
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  // THE SOFTWARE.
  
  #ifndef _M5BALA_H
  #define _M5BALA_H
  
  #include "Arduino.h"
  #include "Wire.h"
  #include "MPU6050_tockn.h"
  
  #define MOTOR_RPM           150
  #define MAX_PWM             255
  #define DEAD_ZONE           20
  
  #define M5GO_WHEEL_ADDR     0x56
  #define MOTOR_CTRL_ADDR     0x00
  #define ENCODER_ADDR        0x04
  
  
  class M5Bala {
  	public:
  		M5Bala();
  		M5Bala(TwoWire &w);
  
  		void begin();
  		void run();
  		void PIDCompute();
  		void setMotor(int16_t pwm0, int16_t pwm1);
  		void readEncder();
  		uint8_t i2c_readByte(uint8_t address, uint8_t subAddress);
  
  		void setAngleOffset(float offset) { angle_offset = offset; };
  		float getAngle() { return pitch; };
  		int16_t getSpeed0() { return speed_input0; };
  		int16_t getSpeed1() { return speed_input1; };
  		int16_t getOut0() { return pwm_out0; };
  		int16_t getOut1() { return pwm_out1; };
  		float getImuAngle() { return imu->getAngleX(); }
  
  		MPU6050 *imu;
  		int16_t left_offset, right_offset;
  		int16_t forward_offset;
  
  		// control
  		void stop();
  		void move(int16_t speed, uint16_t duration = 0);
  		void turn(int16_t speed, uint16_t duration = 0);
  		void rotate(int16_t speed, uint16_t duration = 0);
  
  	private:
  		TwoWire *wire;
  		float yaw, pitch, roll;
  		int16_t speed_input0, speed_input1;
  		int16_t pwm_out0, pwm_out1;
  		float angle_offset;
  		uint32_t loop_interval;
  		float K1, K2, K3, K4, K5;
  		uint8_t imu_id;
  };
  
  #endif
  