First init.

libraries/Adafruit_seesaw_Library/seesaw_motor.h

@@ -0,0 +1,82 @@
+#ifndef _SEESAW_MOTOR_H
+#define _SEESAW_MOTOR_H
+
+#include "Adafruit_seesaw.h"
+
+/**************************************************************************/
+/*!
+    @brief  Class that stores state and functions for seesaw motor interface
+*/
+/**************************************************************************/
+class seesaw_Motor {
+public:
+  /**************************************************************************/
+  /*!
+    @brief  class constructor
+    @param ss the seesaw object to use
+  */
+  /**************************************************************************/
+  seesaw_Motor(Adafruit_seesaw *ss) {
+    _ss = ss;
+    _pina = -1;
+    _pinb = -1;
+    _throttle = 0;
+  }
+
+  ~seesaw_Motor() {}
+
+  /**************************************************************************/
+  /*!
+    @brief  attach the motor to the specified PWM pins
+    @param pina the positive pin to use
+    @param pinb the negative pin to use
+  */
+  /**************************************************************************/
+  void attach(int pina, int pinb) {
+    _pina = pina;
+    _pinb = pinb;
+  }
+
+  /**************************************************************************/
+  /*!
+    @brief  set the throttle
+    @param value the throttle value to set between -1 and 1. Passing 0 will turn
+    the motor off.
+  */
+  /**************************************************************************/
+  void throttle(float value) {
+    if (_pina < 0 || _pinb < 0)
+      return;
+
+    value = constrain(value, -1.0, 1.0);
+    _throttle = value;
+    uint16_t absolute = fabs(value) * 65535;
+
+    if (value > 0) {
+      _ss->analogWrite(_pina, 0);
+      _ss->analogWrite(_pinb, absolute);
+    } else if (value < 0) {
+      _ss->analogWrite(_pina, absolute);
+      _ss->analogWrite(_pinb, 0);
+    } else {
+      // both are off
+      _ss->analogWrite(_pina, 0);
+      _ss->analogWrite(_pinb, 0);
+    }
+  }
+
+  /**************************************************************************/
+  /*!
+    @brief  get the current throttle value
+    @returns the current throttle value between -1 and 1
+  */
+  /**************************************************************************/
+  float getThrottle() { return _throttle; }
+
+private:
+  Adafruit_seesaw *_ss;
+  int8_t _pina, _pinb;
+  float _throttle;
+};
+
+#endif