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# What is EVA Motors?

## What is inside?

EVA Motors is a decorator-based library for behavioral modification of micro-motors. EVA Motors lets you compose behavior by stacking decorators that add specific characteristics like S-curve response, inertia simulation, or kick-start pulses.

## Built on EVA Ecosystem

EVA Motors is part of the EVA ecosystem – an event-driven architecture for Arduino. This integration provides:

- Non-blocking timing – Decorators like `InertiaDecor` and `KickDecor` use EVA's `Tickable` infrastructure
- Unified update cycle – Single `eva::tac()` call drives all time-based components
- Zero-polling design – Components update themselves when needed

    #include <evaTac.h>
    #include <evamKickstartDecor.h>
    using namescpace evam;

    using Motor = KickstartDecor<DirectionalMotor<TA6586Driver<9, 10>>>;

    void setup(){
        static Motor motor;
        motor.Go(50);  // will overhead initial friction by pulse
    }
    void loop() {
        eva::tac();
    }

## Unified Interface

While decorators are the primary focus, this architecture naturally led to interface unification. All motor classes share a consistent `Go(value)` interface with a standardized range:

- Signed motors: `-1000` to `1000` (-100% to +100%)
- Unsigned motors: `0` to `1000` (0% to 100%)

This means you can use EVA Motors as a simple motor control library without decorators. Whether you need bidirectional DC motor control, ESC throttle, or servo positioning, the API remains consistent:

    using namespace evam;
    // Simple motor without decorators
    using Motor = DirectionalMotor<TA6586Driver<9, 10>>;
    Motor motor;
    motor.Go(750);  // 75% forward
    motor.Go(-500); // 50% reverse

## Standard Combo Stack

The library follows a consistent three-layer architecture:

Layer | Components
--- | ---
DECORATORS (Optional) | `CurveDecor` • `InertiaDecor` • `KickDecor`
MOTOR (Required) | `DirectionalMotor` • `ForwardMotor` • `SteeringActuator` • `LinearActuator`
DRIVER (Required) | `PwmDriver` • `ServoDriver` • `TA6586` • `TB6612` • `~CustomDriver~`

Driver layer handles hardware specifics – pin assignments, PWM ranges, protocol details

Motor wrapper provides the unified Go() interface and handles input mapping (dead zones, min/max limits)

Motor wrapper and driver are always required – they form the foundation

Decorators add realistic behavior without modifying the base motor class

    using namespace evam;
    using BaseMotor = DirectionalMotor<TA6586Driver<9, 10>>;
    using PreciseMotor = CurveDecor<BaseMotor, -5>;
    using InertialMotor = InertiaDecor<PreciseMotor, 15>;
    using SmartMotor = KickDecor<InertialMotor, 25, 900>;
    SmartMotor motor;

or more compact:

    KickDecor<InertiaDecor<CurveDecor<DirectionalMotor<TA6586Driver<9, 10>>, 5>, 15>, 25, 900> motor;

## Extensible Driver Layer

The library features a clean, extensible hardware abstraction layer. Adding support for new motor drivers is straightforward.