68 lines
1.4 KiB
C++
68 lines
1.4 KiB
C++
/*
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Motor.h - Motor library
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Copyright (c) 2012 Copenhagen Institute of Interaction Design.
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All right reserved.
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This library is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser Public License for more details.
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You should have received a copy of the GNU Lesser Public License
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along with Foobar. If not, see <http://www.gnu.org/licenses/>.
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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+ author: dviid
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+ contact: dviid@labs.ciid.dk
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*/
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#include <avr/io.h>
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enum MOTOR{
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MOTORA = 0,
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MOTORB = 1
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};
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enum DIRECTION {
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FORWARD,
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BACKWARD
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};
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class MMotor {
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public:
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MMotor(MOTOR m);
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void init();
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void torque(int value);
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int torque();
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void direction(DIRECTION d);
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DIRECTION direction();
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void stop();
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void start();
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void restart();
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private:
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void _period(long ms);
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void _set_period_bits();
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MOTOR _m;
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DIRECTION _d;
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int _t;
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long _p;
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};
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extern MMotor MotorA;
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extern MMotor MotorB;
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