DRV8833.h

#pragma once
 
#include <Arduino.h>
#include "Thing.h"
#include "Things/DifferentialDrive.h"
 
namespace RoboidControl {
namespace Arduino {
 
class DRV8833Motor;
 
class DRV8833 : public Thing {
 public:
  DRV8833(Participant* participant,
          unsigned char pinAIn1,
          unsigned char pinAIn2,
          unsigned char pinBIn1,
          unsigned char pinBIn2,
          unsigned char pinStandby = 255,
          bool reverseA = false,
          bool reverseB = false);
  DRV8833(Thing* parent,
          unsigned char pinAIn1,
          unsigned char pinAIn2,
          unsigned char pinBIn1,
          unsigned char pinBIn2,
          unsigned char pinStandby = 255,
          bool reverseA = false,
          bool reverseB = false);
  DRV8833Motor* motorA = nullptr;
  DRV8833Motor* motorB = nullptr;
 
 protected:
  unsigned char pinStandby = 255;
};
 
class DRV8833Motor : public Thing {
 public:
  enum class RotationDirection { Clockwise = 1, CounterClockwise = -1 };
 
  DRV8833Motor(DRV8833* driver,
               unsigned char pinIn1,
               unsigned char pinIn2,
               bool reverse = false);
  void SetMaxRPM(unsigned int rpm);
 
  virtual void SetAngularVelocity(Spherical velocity) 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
};
 
}  // namespace Arduino
}  // namespace RoboidControl