arduino stuffs
Diffstat (limited to 'car_driver/arduino/motor.h')
| -rw-r--r-- | car_driver/arduino/motor.h | 44 |
1 files changed, 0 insertions, 44 deletions
diff --git a/car_driver/arduino/motor.h b/car_driver/arduino/motor.h deleted file mode 100644 index 5d7b6e1..0000000 --- a/car_driver/arduino/motor.h +++ /dev/null @@ -1,44 +0,0 @@ -#ifndef MOTOR_H -#define MOTOR_H - -class Motor { -private: - uint8_t pin, brake_pin, speed_pin; - - // @param direction LOW is backwards, HIGH is forward - // @param speed 0-255 - void set(int8_t direction, uint8_t speed) { - digitalWrite(pin, direction); - digitalWrite(brake_pin, LOW); // brake off - analogWrite(speed_pin, speed); // speed up - } - -public: - // @param speed -100-100, the speed to go at, negative = backwards - void speed(int8_t speed) { - if (speed == 0) - brake(); - else if (speed < 0) - backward(abs(speed) + 155); // negative number: -100 + 355 = 255 - else - forward(speed + 155); // positive number: 100 + 155 = 255 - } - - void brake() { - digitalWrite(brake_pin, HIGH); // engage brake - analogWrite(speed_pin, 0); // slow - } - - inline void forward(uint8_t speed) { set(HIGH, speed); } - inline void backward(uint8_t speed) { set(LOW, speed); } - - void begin() { - pinMode(pin, OUTPUT); - pinMode(brake_pin, OUTPUT); - } - - Motor(const uint8_t _pin, const uint8_t _brake_pin, const uint8_t _speed_pin) { - pin = _pin, brake_pin = _brake_pin, speed_pin = _speed_pin; - } -}; -#endif
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