52 lines
1.2 KiB
C++
52 lines
1.2 KiB
C++
#include "Arduino.h"
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#include "Motor.h"
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int Motor::getBackwardsValue(){
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if(this->forwardValue==0){
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return 1;
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}
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return 0;
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}
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int Motor::getSpeed(int direction){
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if(direction==LOW){
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return 255-this->speedPwm;
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}
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return this->speedPwm;
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}
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Motor::Motor(int pwmPin, int directionPin,bool forwardValue, int speedPwm, int directionDelay){
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this->pwmPin = pwmPin;
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this->directionPin = directionPin;
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this->forwardValue = forwardValue;
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this->speedPwm = speedPwm;
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this->directionDelay= directionDelay;
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//Pins auf Output setzen
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pinMode(pwmPin, OUTPUT );
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pinMode(directionPin, OUTPUT );
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digitalWrite(pwmPin, LOW );
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digitalWrite(directionPin, LOW );
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}
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void Motor::forward(){
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//Motor vor Änderungen stoppen
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this->stop();
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digitalWrite(this->directionPin,this->forwardValue);
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analogWrite(this->pwmPin, this->getSpeed(this->forwardValue));
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}
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void Motor::backward(){
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//Motor vor Änderungen stoppen
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this->stop();
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digitalWrite(this->directionPin,this->getBackwardsValue());
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analogWrite(this->pwmPin, this->getSpeed(this->getBackwardsValue()));
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}
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void Motor::stop(){
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digitalWrite(this->directionPin, LOW);
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digitalWrite(this->pwmPin, LOW);
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//Abwarten bis Rad gestoppt wurde
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delay(this->directionDelay);
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}
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