Itamotorino.cpp

/*
  Itamotorino.cpp - Library to control the motor shield the Itapêduino
  Created and developed by GELSON J.A. FILHO, July 26, 2014 (4:12 am).
  Released into the public domain

  Itamotorino.cpp - Biblioteca para comandar el controlador de motor de la Itapêduino
  Creado y desarrollado por GELSON J.A. FILHO, Julio 26, 2014 (4:12)
  Publicada en el dominio público

  Itamotorino.cpp - Biblioteca para comandar a controladora de motores da Itapêduino
  Criado e desenvolvido por GELSON J. A. FILHO, Julho 26, 2014 (4:12)
  Lançamentos para o domínio público
*/

#include "Arduino.h"
#include "Itamotorino.h"

Itamotorino::Itamotorino(int pinM1a, int pinM1b,
                         int pinM2a, int pinM2b,
                         int pinEnableM1, int pinEnableM2)
{
  pinMode(pinM1a, OUTPUT);
  pinMode(pinM1b, OUTPUT);
  pinMode(pinM2a, OUTPUT);
  pinMode(pinM2b, OUTPUT);
  pinMode(pinEnableM1, OUTPUT);
  pinMode(pinEnableM2, OUTPUT);
  _pinM1a = pinM1a;
  _pinM1b = pinM1b;
  _pinM2a = pinM2a;
  _pinM2b = pinM2b;
  _pinEnableM1 = pinEnableM1;
  _pinEnableM2 = pinEnableM2;
}

void Itamotorino::setupADC(int channelM1, int freqM1, int resolutionM1, int channelM2, int freqM2, int resolutionM2)
{
  _channelM1 = channelM1;
  _freqM1 = freqM1;
  _resolutionM1 = resolutionM1;

  _channelM2 = channelM2;
  _freqM2 = freqM2;
  _resolutionM2 = resolutionM2;

  ledcSetup(_channelM1, _freqM1, _resolutionM1);
  ledcSetup(_channelM2, _freqM2, _resolutionM2);

  ledcAttachPin(_pinEnableM1, _channelM1);
  ledcAttachPin(_pinEnableM2, _channelM2);
}

void Itamotorino::setSpeeds(int m1, int m2)
{
  if (m1 >= 0 && m2 >= 0)
  {
    _m1 = m1;
    _m2 = m2;

    digitalWrite(_pinM1a, HIGH);
    digitalWrite(_pinM1b, LOW);
    digitalWrite(_pinM2a, HIGH);
    digitalWrite(_pinM2b, LOW);
    ledcWrite(_channelM1, _m1);
    ledcWrite(_channelM2, _m2);
  }
  if (m1 >= 0 && m2 < 0)
  {
    _m1 = m1;
    _m2 = m2;

    _m2 = -_m2;

    digitalWrite(_pinM1a, HIGH);
    digitalWrite(_pinM1b, LOW);
    digitalWrite(_pinM2a, LOW);
    digitalWrite(_pinM2b, HIGH);
    ledcWrite(_channelM1, _m1);
    ledcWrite(_channelM2, _m2);
  }
  if (m1 < 0 && m2 >= 0)
  {
    _m1 = m1;
    _m2 = m2;

    _m1 = -_m1;

    digitalWrite(_pinM1a, LOW);
    digitalWrite(_pinM1b, HIGH);
    digitalWrite(_pinM2a, HIGH);
    digitalWrite(_pinM2b, LOW);
    ledcWrite(_channelM1, _m1);
    ledcWrite(_channelM2, _m2);
  }
  if (m1 < 0 && m2 < 0)
  {
    _m1 = m1;
    _m2 = m2;

    _m1 = -_m1;
    _m2 = -_m2;

    digitalWrite(_pinM1a, LOW);
    digitalWrite(_pinM1b, HIGH);
    digitalWrite(_pinM2a, LOW);
    digitalWrite(_pinM2b, HIGH);
    ledcWrite(_channelM1, _m1);
    ledcWrite(_channelM2, _m2);
  }
}