seesaw_motor.h

#ifndef _SEESAW_MOTOR_H
#define _SEESAW_MOTOR_H

#include "Adafruit_seesaw.h"

/**************************************************************************/
/*!
    @brief  Class that stores state and functions for seesaw motor interface
*/
/**************************************************************************/
class seesaw_Motor {
public:
  /**************************************************************************/
  /*!
    @brief  class constructor
    @param ss the seesaw object to use
  */
  /**************************************************************************/
  seesaw_Motor(Adafruit_seesaw *ss) {
    _ss = ss;
    _pina = -1;
    _pinb = -1;
    _throttle = 0;
  }

  ~seesaw_Motor() {}

  /**************************************************************************/
  /*!
    @brief  attach the motor to the specified PWM pins
    @param pina the positive pin to use
    @param pinb the negative pin to use
  */
  /**************************************************************************/
  void attach(int pina, int pinb) {
    _pina = pina;
    _pinb = pinb;
  }

  /**************************************************************************/
  /*!
    @brief  set the throttle
    @param value the throttle value to set between -1 and 1. Passing 0 will turn
    the motor off.
  */
  /**************************************************************************/
  void throttle(float value) {
    if (_pina < 0 || _pinb < 0)
      return;

    value = constrain(value, -1.0, 1.0);
    _throttle = value;
    uint16_t absolute = fabs(value) * 65535;

    if (value > 0) {
      _ss->analogWrite(_pina, 0);
      _ss->analogWrite(_pinb, absolute);
    } else if (value < 0) {
      _ss->analogWrite(_pina, absolute);
      _ss->analogWrite(_pinb, 0);
    } else {
      // both are off
      _ss->analogWrite(_pina, 0);
      _ss->analogWrite(_pinb, 0);
    }
  }

  /**************************************************************************/
  /*!
    @brief  get the current throttle value
    @returns the current throttle value between -1 and 1
  */
  /**************************************************************************/
  float getThrottle() { return _throttle; }

private:
  Adafruit_seesaw *_ss;
  int8_t _pina, _pinb;
  float _throttle;
};

#endif