#ifndef VESC_COMM_H
#define VESC_COMM_H

/*
 * VESC Communication Interface — Dual FSESC 6.7 Pro (FW 6.6)
 *
 * Motor1: connected directly to USART6 (PC6=TX, PC7=RX) @ 115200
 * Motor2: bridged via COMM_FORWARD_CAN (cmd 34) to CAN ID 68 on motor1
 *
 * Transport implementations:
 *   src/vesc_uart.c — USART6 UART (active)
 *   src/vesc_can.c  — STM32 CAN + SN65HVD230 (phase 2, stub)
 */

/* Initialise the VESC transport (USART6 GPIO + peripheral) */
void vesc_comm_init(void);

/*
 * Send a current command to both VESCs.
 * current_motor1/2 in Amperes (positive = forward, negative = reverse).
 * Range limited by VESC motor configuration; typical max ±30 A for FSESC 6.7 Pro.
 */
void vesc_comm_send_current(float current_motor1, float current_motor2);

/*
 * Send a duty-cycle command to both VESCs.
 * duty_motor1/2 in range -1.0 .. +1.0 (full reverse / full forward).
 */
void vesc_comm_send_duty(float duty_motor1, float duty_motor2);

#endif /* VESC_COMM_H */