MeMegaPiDCMotor.h

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#ifndef MeMegaPiDCMotor_H
#define MeMegaPiDCMotor_H
 
#include <stdint.h>
#include <stdbool.h>
#include <Arduino.h>
#include "MeConfig.h"
 
typedef struct
{
  uint8_t dc_dir_h1;
  uint8_t dc_dir_h2;
  uint8_t pwm_pin; //PWM
} megapi_dc_type;
 
extern megapi_dc_type megapi_dc_Port[14];  // megapi_dc_Port[0] is nonsense
 
class MeMegaPiDCMotor
{
public:
  MeMegaPiDCMotor(void);
 
  MeMegaPiDCMotor(uint8_t port);
 
  MeMegaPiDCMotor(uint8_t dc_dir_h1,uint8_t dc_dir_h2,uint8_t pwm_pin);
 
  void reset(uint8_t port);
 
  void setpin(uint8_t dc_dir_h1,uint8_t dc_dir_h2,uint8_t pwm_pin);
 
  void run(int16_t speed);
 
  void stop(void);
private:
  volatile uint8_t _dc_dir_h1;
  volatile uint8_t _dc_dir_h2;
  volatile uint8_t _dc_pwm_pin;
  volatile int16_t last_speed;
};
#endif //MeMegaPiDCMotor_H