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@kelliott121
Created May 29, 2016
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#include "Arduino.h"
#include "L9110.h"
L9110::L9110(uint8_t A_IA, uint8_t A_IB, uint8_t B_IA, uint8_t B_IB)
{
_A_IA = A_IA;
_A_IB = A_IB;
_B_IA = B_IA;
_B_IB = B_IB;
pinMode(_A_IA, OUTPUT);
pinMode(_A_IB, OUTPUT);
pinMode(_B_IA, OUTPUT);
pinMode(_B_IB, OUTPUT);
}
void L9110::forward(uint8_t speed)
{
motorAForward(speed);
motorBForward(speed);
}
void L9110::backward(uint8_t speed)
{
motorABackward(speed);
motorBBackward(speed);
}
void L9110::turnLeft(uint8_t speed)
{
motorABackward(speed);
motorBForward(speed);
}
void L9110::turnRight(uint8_t speed)
{
motorAForward(speed);
motorBBackward(speed);
}
void L9110::motorAForward(uint8_t speed)
{
digitalWrite(_A_IA, LOW);
analogWrite(_A_IB, speed);
}
void L9110::motorABackward(uint8_t speed)
{
digitalWrite(_A_IB, LOW);
analogWrite(_A_IA, speed);
}
void L9110::motorBForward(uint8_t speed)
{
digitalWrite(_B_IA, LOW);
analogWrite(_B_IB, speed);
}
void L9110::motorBBackward(uint8_t speed)
{
digitalWrite(_B_IB, LOW);
analogWrite(_B_IA, speed);
}
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