Romi_Motor_Power.cpp

#include "Romi_Motor_Power.h"
 
Romi_Motor_Power::Romi_Motor_Power()
{
    slp_pin = 0;
    dir_pin = 0;
    pwm_pin = 0;
    motor_dir = 0;
    preserve_speed = 0;
}
 
bool Romi_Motor_Power::begin(uint8_t _slp_pin, uint8_t _dir_pin, uint8_t _pwm_pin)
{
    slp_pin = _slp_pin;
    dir_pin = _dir_pin;
    pwm_pin = _pwm_pin;
 
    pinMode(slp_pin, OUTPUT);
    pinMode(dir_pin, OUTPUT);
    pinMode(pwm_pin, OUTPUT);
 
    disableMotor();
 
    return true;
}
 
void Romi_Motor_Power::disableMotor()
{
    setRawSpeed(0);
    digitalWrite(slp_pin, LOW);
}
 
void Romi_Motor_Power::enableMotor()
{
    digitalWrite(slp_pin, HIGH);
}
 
void Romi_Motor_Power::directionForward()
{
    digitalWrite(dir_pin, LOW);
}
 
void Romi_Motor_Power::directionBackward()
{
    digitalWrite(dir_pin, HIGH);
}
 
void Romi_Motor_Power::pauseMotor()
{
    // disable motor without affecting preserve_speed
    analogWrite(pwm_pin, 0);
    digitalWrite(slp_pin, LOW);
}
 
void Romi_Motor_Power::resumeMotor()
{
    setRawSpeed(preserve_speed);
    enableMotor();
}
 
void Romi_Motor_Power::setSpeed(uint8_t speed)
{
    speed = map(speed, 0, 100, 0, 255);
    setRawSpeed(speed);
}
 
void Romi_Motor_Power::setRawSpeed(uint8_t speed)
{
    preserve_speed = speed;
    analogWrite(pwm_pin, speed);
}