TB6612.h

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#pragma once
 
#include <Arduino.h>
#include "Motor.h"
 
namespace Passer {
namespace RoboidControl {
 
class TB6612Motor : public Motor {
 public:
  byte pinIn1;
  byte pinIn2;
  byte pinPWM;
 
  TB6612Motor();
  TB6612Motor(byte pinIn1, byte pinIn2);
 
  TB6612Motor(byte pinIn1, byte pinIn2, byte pinPWM);
 
  //   enum Direction { Forward = 1,
  //                    Reverse = -1 };
 
  //   void SetDirection(Direction direction);
 
  void SetSpeed(float speed);
};
 
class TB6612 {
 public:
  TB6612();
 
  __attribute__((
      warning("\n- Note that without PWM, the speed of the motor cannot be "
              "controlled.\n- Make sure the standby pin is pulled high.\n")))
  TB6612(byte pinAIn1, byte pinAIn2, byte pinBIn1, byte pinBIn2);
  TB6612(byte pinAIn1,
         byte pinAIn2,
         byte pinPWMA,
         byte pinBIn1,
         byte pinBIn2,
         byte pinPWMB);
  TB6612(byte pinAIn1,
         byte pinAIn2,
         byte pinPWMA,
         byte pinBIn1,
         byte pinBIn2,
         byte pinPWMB,
         byte pinStandby);
 
  TB6612Motor motorA;
  TB6612Motor motorB;
 
  byte pinStandby;
};
 
}  // namespace RoboidControl
}  // namespace Passer
using namespace Passer::RoboidControl;