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