#ifndef __ENCODER_H
#define __ENCODER_H

#include <cstdio>
#include "ti_msp_dl_config.h"

class Encoder {
public:
    struct Speed {
        int left;
        int right;
    };

    static void init();
    static void inject();

    static Speed getSpeeds();
    static Speed getRealSpeeds();

    static int getLeftSpeed();
    static int getRealLeftSpeed();

    static int getRightSpeed();
    static int getRealRightSpeed();

    static int getLeftDirection();
    static int getRightDirection();

    static Speed ticks;
    static Speed direction;
    static Speed speed;
    static Speed real_speed;
};


#endif