Initialisierung

Motor.cpp

@@ -0,0 +1,38 @@
+#include "Arduino.h"
+#include "Motor.h"
+
+int Motor::getBackwardsValue(){
+  if(this->forwardValue==0){
+    return 1;
+  }
+  return 0;
+}
+
+Motor::Motor(int pwmPin, int directionPin,bool forwardValue, int speedPwm, int directionDelay){
+  this->pwmPin        = pwmPin;
+  this->directionPin  = directionPin;
+  this->forwardValue  = forwardValue;
+  this->speedPwm      = speedPwm;
+  this->directionDelay= directionDelay;
+}
+
+void Motor::forward(){
+  //Motor vor Änderungen stoppen
+  this->stop();
+  digitalWrite(this->directionPin,this->forwardValue);
+  analogWrite(this->pwmPin, this->speedPwm);
+} 
+
+void Motor::backward(){
+  //Motor vor Änderungen stoppen
+  this->stop();
+  digitalWrite(this->directionPin,this->getBackwardsValue());
+  analogWrite(this->pwmPin, this->speedPwm);
+} 
+
+void Motor::stop(){
+  digitalWrite(this->directionPin, LOW);
+  digitalWrite(this->pwmPin, LOW);
+  //Abwarten bis Rad gestoppt wurde
+  delay(this->directionDelay);
+}

Motor.h

@@ -0,0 +1,31 @@
+#ifndef Motor_h
+#define Motor_h
+
+#include "Arduino.h"
+/**
+ * Eine Klasse zur Motorsteurung unter Arduino
+ * @author kf
+ * @since 2016-01-17
+ **/
+class Motor{
+    private:
+      int pwmPin;
+      int directionPin;
+      int forwardValue;
+      int speedPwm;
+      int directionDelay;
+      //Liefert den Vorwärtswert;HIGH oder LOW zurück
+      int getBackwardsValue();
+    public:
+        //Initialisierung der Klassenattribute
+        Motor(int pwmPin, int directionPin,bool forwardBool,int speedPwm,int directionDelay);
+        //Dreht das Rad vorwärts
+        void forward();
+        //Dreht das Rad rückwärts
+        void backward();
+        //Stoppt den Motor
+        void stop();
+};
+
+#endif
+