var prb = require('picoborgrev').picoborgrev();

/* Unlike the Python and Arduino variants which accept a float input ranged from -1 to +1,
* I opted to simplify this for the end-user and require a percentage of the maximum speed
* which is ranged from -255 - +255. Therefore these functions accept anything from -100 to -1
* for reverse, 0 to stop, and 1 to 100 for forward.
*/
/* Start motor 2 moving forward at 100% maximum speed */
pbr.SetMotor2(100, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Stop motor 2 */
pbr.SetMotor2(0, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Start motor 1 moving in reverse at 50% maximum speed */
pbr.SetMotor1(-50, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Start both motors moving forward at 30% maximum speed */
pbr.SetMotors(30, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Stop both motors */
pbr.MotorsOff(function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Another way to stop both motors */
pbr.SetMotors(0, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Get the current speed (% of max speed) of motor 2 */
pbr.GetMotor2(function(err, ret){
    if ( err ){
        console.log("Error: " + err);
    }
    if (ret){
        console.log("Motor 2 is at " + ret + "% power.");
    }
});

/* Turn the on-board LED on and off */
pbr.SetLed(true, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

pbr.SetLed(false, function(err){
    if ( err ){
        console.log("Error: " + err);
    }
});

/* Get the status of the on-board LED */
pbr.GetLed(function(err, ret){
    if ( err ){
        console.log("Error: " + err);
    }
    if (ret){
        console.log("The LED is on.");
    }
});

/* A good way to force the motors to stop if the node.js process stops running (ie, if you press CTRL+C.)*/
process.on('SIGINT', function() {
    pbr.MotorsOff(function(err){
        if ( err ){
            console.log("Error: " + err);
        }
    });
});

SetMotor2(int power, callback);

GetMotor2(callback);

SetMotor1(int power, callback);

GetMotor1(callback);

SetMotors(int power, callback);

MotorsOff(callback);

CheckId(callback);

SetLed(bool state, callback);

GetLed(callback);

ResetEpo(callback);

GetEpo(callback);

SetEpoIgnore(bool state, callback);

GetEpoIgnore(callback);

SetCommsFailsafe(bool state, callback);

GetCommsFailsafe(callback);

GetDriveFault(callback);

*SetEncoderMoveMode(bool state, callback);

*GetEncoderMoveMode(callback);

*EncoderMoveMotor2(int counts, callback);

*EncoderMoveMotor1(int counts, callback);

*EncoderMoveMotors(int counts, callback);

*IsEncoderMoving(callback);

*SetEncoderSpeed(int power, callback);

*GetEncoderSpeed(callback);

ScanForCount(int bus, callback);

*ScanForAddress(byte index, callback);

SetNewAddress(byte newAddress, callback);