Ringo OOP

RingoMotorSerialTest.ino

#include "RingoSimpleLibrary.h"

Motors motors;
Communication communication;

void setup() {
}

void loop() {
  motors.Drive(255, 255);
  delay(1000);

  communication.Enable();
  Serial.println("hello World!");
  communication.Disable();
}

void initialize(){
  motors.Enable();
}

RingoSimpleLibrary.h

#include "Arduino.h"

/********************************************
 * PINS
 ********************************************/
#define PIN_MOTOR_CAP_BATT_VOLTS 0 //AD0 if SOURCE_SELECT == LOW, then MOTOR CAPACITOR enabled else BATTERY
#define PIN_SERIAL_RECEIVE 0
#define PIN_LEFT_MOTOR_DIRECTION 0
#define PIN_RIGHT_MOTOR_DIRECTION 1

#define PIN_SOURCE_SELECT 4
#define PIN_RIGHT_MOTOR_DRIVE 5
#define PIN_LEFT_MOTOR_DRIVE 6

/********************************************
 * OTHERS 
 ********************************************/

#define SERIAL_SPEED 57600
#define MAX_MOTOR_SPEED 255

#define MOTOR_REVERSE 0
#define MOTOR_FORWARD 1

/********************************************
 * MODES 
 ********************************************/
extern int motor_ready;
extern int print_ready;

class Motors{

  public:
  	void Enable();
  	void Drive(int left_speed, int right_speed);
  	void DriveWheel(int speed, int direction_pin, int drive_pin);
  	void Stop();
};

class Communication{
  public:
  	void Enable();
  	void Disable();
};

RingoSimpleLibrary.pp

#include "RingoSimpleLibrary.h"

int motor_ready;
int print_ready;

void Motors::Enable(){
  pinMode(PIN_RIGHT_MOTOR_DIRECTION, OUTPUT);
  pinMode(PIN_LEFT_MOTOR_DIRECTION, OUTPUT);
  motor_ready = 1;
  print_ready = 0;
}

void Motors::Drive(int left_speed, int right_speed){

  if(!motor_ready)
    Enable();
 
  DriveWheel(left_speed, PIN_LEFT_MOTOR_DIRECTION, PIN_LEFT_MOTOR_DRIVE);
  DriveWheel(right_speed, PIN_RIGHT_MOTOR_DIRECTION, PIN_RIGHT_MOTOR_DRIVE);
}

void Motors::DriveWheel(int speed, int direction_pin, int drive_pin){
  
  speed = constrain(speed, -MAX_MOTOR_SPEED, MAX_MOTOR_SPEED);
  speed < 0 ? digitalWrite(direction_pin, MOTOR_REVERSE) : digitalWrite(direction_pin, MOTOR_FORWARD);
  analogWrite(drive_pin, abs(speed));
}

void Motors::Stop(){
  Drive(0, 0);
}

void Communication::Enable(){
    pinMode(PIN_SERIAL_RECEIVE, INPUT); 
    Serial.begin(SERIAL_SPEED); 
    motor_ready = 0;
    print_ready = 1;
  }

void Communication::Disable(){
    Serial.end();
    pinMode(PIN_LEFT_MOTOR_DIRECTION, OUTPUT);
    pinMode(PIN_RIGHT_MOTOR_DIRECTION, OUTPUT);
    motor_ready = 1;
    print_ready = 0;
  }