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[236] | 1 | /*! \file ZumoMotors.h
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| 2 | *
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| 3 | * See the ZumoMotors class reference for more information about this library.
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| 4 | *
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| 5 | * \class ZumoMotors ZumoMotors.h
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| 6 | * \brief Control motor speed and direction
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| 7 | *
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| 8 | */
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| 9 |
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| 10 | #ifndef ZumoMotors_h
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| 11 | #define ZumoMotors_h
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| 12 |
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| 13 | #include <Arduino.h>
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| 14 |
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| 15 | class ZumoMotors
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| 16 | {
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| 17 | public:
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| 18 |
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| 19 | // constructor (doesn't do anything)
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| 20 | ZumoMotors();
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| 21 |
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| 22 | // enable/disable flipping of motors
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| 23 | static void flipLeftMotor(boolean flip);
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| 24 | static void flipRightMotor(boolean flip);
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| 25 |
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| 26 | // set speed for left, right, or both motors
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| 27 | static void setLeftSpeed(int speed);
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| 28 | static void setRightSpeed(int speed);
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| 29 | static void setSpeeds(int leftSpeed, int rightSpeed);
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| 30 |
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| 31 | private:
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| 32 |
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| 33 | static inline void init()
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| 34 | {
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| 35 | static boolean initialized = false;
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| 36 |
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| 37 | if (!initialized)
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| 38 | {
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| 39 | initialized = true;
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| 40 | init2();
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| 41 | }
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| 42 | }
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| 43 |
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| 44 | // initializes timer1 for proper PWM generation
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| 45 | static void init2();
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| 46 | };
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| 47 |
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| 48 | #endif
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