Motorsteurung optimiert

Motor.cpp

@@ -8,26 +8,39 @@ int Motor::getBackwardsValue(){
   return 0;
 }
 
+int Motor::getSpeed(int direction){
+  if(direction==LOW){
+    return 255-this->speedPwm;
+  }
+  return this->speedPwm;
+}
+
 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;
+  
+  //Pins auf Output setzen
+  pinMode(pwmPin, OUTPUT );
+  pinMode(directionPin, OUTPUT );
+  digitalWrite(pwmPin, LOW );
+  digitalWrite(directionPin, LOW );
 }
 
 void Motor::forward(){
   //Motor vor Änderungen stoppen
   this->stop();
   digitalWrite(this->directionPin,this->forwardValue);
-  analogWrite(this->pwmPin, this->speedPwm);
+  analogWrite(this->pwmPin, this->getSpeed(this->forwardValue));
 } 
 
 void Motor::backward(){
   //Motor vor Änderungen stoppen
   this->stop();
   digitalWrite(this->directionPin,this->getBackwardsValue());
-  analogWrite(this->pwmPin, this->speedPwm);
+  analogWrite(this->pwmPin, this->getSpeed(this->getBackwardsValue()));
 } 
 
 void Motor::stop(){

Motor.h

@@ -14,6 +14,10 @@ class Motor{
       int forwardValue;
       int speedPwm;
       int directionDelay;
+      
+      //Liefert die PWM-Geschwindigkeit in Abhängigkeit von der Richtung zurück
+      int getSpeed(int direction);
+      
       //Liefert den Vorwärtswert;HIGH oder LOW zurück
       int getBackwardsValue();
     public: