// SPDX-License-Identifier: LGPL-3.0-or-later
// ST4-ESP32: Dual-pin axis with mutual exclusion
// Deactivates opposing pin before activating (matches original safety pattern)

#pragma once

#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "ST4Pin.h"
#include "ST4Types.h"

class ST4Axis {
    ST4Pin plusPin_;
    ST4Pin minusPin_;
    volatile ST4Direction direction_;
    SemaphoreHandle_t mutex_;

public:
    ST4Axis();
    ~ST4Axis();

    void begin(int plusPin, int minusPin,
               ST4PinLogic logic = ST4PinLogic::ACTIVE_HIGH);
    void plus();
    void minus();
    void stop();
    void move(ST4Direction dir);

    ST4Direction direction() const;
    bool isActive() const;
};