AMiRo-OS

      pwmEnableChannel(this->pwmDriver, (idxWheel * 2) + idxPWM, motorEnable ? widths[idxPWM] : 0);

void MotorControl::setGains(motorGains *motorConfig){

  chSysLock();

  this->pGain = motorConfig->pGain;

  this->iGain = motorConfig->iGain;

  this->dGain = motorConfig->dGain;

  chSysUnlock();

}

void MotorControl::getGains(motorGains *motorConfig){

  motorGains gains;

  motorConfig->pGain = this->pGain;

  motorConfig->iGain = this->iGain;

  motorConfig->dGain = this->dGain;

}

void MotorControl::setMotorEnable(bool enable){

  this->motorEnable = enable;

}

bool MotorControl::getMotorEnable(){

  return this->motorEnable;

}

void MotorControl::toggleMotorEnable(){

  this->motorEnable = !this->motorEnable;

}

  struct motorGains

  {

    int pGain = 0;

    float iGain = 0.0;

    float dGain = 0.0;

  };

    void setGains(motorGains *motorConfig);

    void getGains(motorGains *motorConfig);

    void setMotorEnable(bool enable);

    bool getMotorEnable();

    void toggleMotorEnable();

    bool motorEnable = true;