#pragma once
#include <mutex>
#include <vector>
#include <iostream>

class ControlModule
{
private:
    mutable std::mutex mtx;
    float motors[4]; //LeftFront; RightFront; LeftBack; RightBack
    float forwardSpeed;
    float rotateSpeed;
    float moveSideSpeed;
public:
    ControlModule(/* args */);
    ControlModule(float forwardSpeed, float rotateSpeed, float moveSideSpeed);
    ~ControlModule();
    void moveForward();
    void moveSide(int imageColumsMiddle, int contourColumsMiddle);
    void rotate(int angle);
    void unit();            //Brings the max Value to 1.0

    void calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, int angle); //Funktion to be called
    std::vector<float> readMotors();
};