DRV8833.h

#pragma once
 
#include <Arduino.h>
#include "Participants/IsolatedParticipant.h"
#include "Thing.h"
#include "Things/DifferentialDrive.h"
#include "Things/Motor.h"
 
namespace RoboidControl {
namespace Arduino {
 
class DRV8833Motor;
 
class DRV8833 : public Thing {
 public:
  struct Configuration {
    int AIn1;
    int AIn2;
    int BIn1;
    int BIn2;
    int standby = 255;
  };
 
  DRV8833(Configuration config, Thing* parent = Thing::LocalRoot());
 
  DRV8833Motor* motorA = nullptr;
  DRV8833Motor* motorB = nullptr;
 
 protected:
  unsigned char pinStandby = 255;
 
 public:
  class DifferentialDrive;
};
 
#pragma region Differential drive
 
class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
 public:
  DifferentialDrive(DRV8833::Configuration config, Thing* parent = Thing::LocalRoot());
 
  virtual void Update(bool recurse = false) override;
 
 protected:
  DRV8833 drv8833;
};
 
#pragma endregion Differential drive
 
#pragma region Motor
 
class DRV8833Motor : public Motor {
 public:
  DRV8833Motor(DRV8833* driver,
               unsigned char pinIn1,
               unsigned char pinIn2,
               bool reverse = false);
  // void SetMaxRPM(unsigned int rpm);
 
  // virtual void SetAngularVelocity(Spherical velocity) override;
  virtual void SetTargetVelocity(float targetSpeed) override;
  // bool reverse = false;
 
 protected:
  unsigned char pinIn1 = 255;
  unsigned char pinIn2 = 255;
  // unsigned int maxRpm = 200;
 
#if (ESP32)
  uint8_t in1Ch;
  uint8_t in2Ch;
  static uint8_t nextAvailablePwmChannel;
#endif
};
 
#pragma endregion Motor
 
}  // namespace Arduino
}  // namespace RoboidControl