#pragma once
#include <stdint.h>

#include <functional>

#include "errorcode.hpp"

namespace iflytop {
using namespace std;
class ZIMotor {
 public:
  virtual ~ZIMotor() {}
  virtual int32_t motor_enable(int32_t enable) { return err::koperation_not_support; }
  virtual int32_t motor_rotate(int32_t direction, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_by(int32_t distance, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_to(int32_t position, int32_t motor_velocity, int32_t acc) { return err::koperation_not_support; }
  virtual int32_t motor_move_to_with_torque(int32_t pos, int32_t torque) { return err::koperation_not_support; }

  // s32 pos, s32 speed, s32 torque,
};
}  // namespace iflytop