DRV8871.h

/*
  DRV8871.h - Library for interacting with DRV8871
  Created by Dirk Köhler
*/

#ifndef DRV8871_h
#define DRV8871_h

#include "Arduino.h"

//#define DEBUG

class DRV8871
{
  public:
    DRV8871 (byte motorIN1Pin, byte motorIN2Pin);
    const byte DIRECTION_NONE = 0;
    const byte DIRECTION_FORWARD = 1;
    const byte DIRECTION_BACKWARD = 2;
    void drive(byte targetSpeed, byte direction, int acceleration);
    void breakdown(byte targetSpeed = 0, int acceleration = 0);
    byte currentSpeed();
    byte currentDirection();
  private:
    const byte ACCELERATION_DELAY_MS = 10;
    byte _motorIN1Pin;
    byte _motorIN2Pin;
    byte _currentSpeed = 0;
    byte _currentDirection = DIRECTION_NONE;
    void rampUpForward(byte targetSpeed, int acceleration);
    void rampDownForward(byte targetSpeed, int acceleration);
    void rampUpBackward(byte targetSpeed, int acceleration);
    void rampDownBackward(byte targetSpeed, int acceleration);
};
#endif