#include "CAN.h"

class VESC_controller{
  private:
    uint8_t vescId =0;
    int32_t current_duty_cycle=0;
    int32_t readout_motor_current=0;
    int32_t readout_duty_cycle=0;
    mbed::CANMessage lastCanMessage;

public:
      int32_t setDutyCycle(int32_t duty_cycle);
void getStatus1(const mbed::CANMessage &canMsg);
      bool verifyDutyCycle();
      void getDataFromVESC();
      void getDataFromVesc();
      uint8_t getVescID();
    VESC_controller(uint8_t address){
        vescId = address;
        current_duty_cycle=0;
        readout_motor_current=0;
        readout_duty_cycle=0;
      }

};