File content as of revision 1:9c93f514f369:

/*
  MotorDriver.h
  2014 Copyright (c) Seeed Technology Inc.  All right reserved.

  Author:lawliet.zou@gmail.com
  2014-02-11

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/
#ifndef __MOTORDRIVER_H__
#define __MOTORDRIVER_H__

#include "mbed.h"
#include "SoftwarePWM.h"

/**************Motor ID**********************/
#define MOTORA                  0
#define MOTORB                  1

#define LOW                     0
#define HIGH                    1

#define MOTOR_POSITION_LEFT     0
#define MOTOR_POSITION_RIGHT    1
#define MOTOR_CLOCKWISE         0
#define MOTOR_ANTICLOCKWISE     1

#define USE_DC_MOTOR            0

#define MOTOR_PERIOD            10000 //10ms

struct MotorStruct {
    uint8_t speed;
    uint8_t direction;
    uint8_t position;
};

/** Motor Driver class.
 *  offer API to control the movement of motor
 */
class MotorDriver
{

public:

    /** Create Motor Driver instance
     *  @param int1 pin 1 of motor movement control
     *  @param int2 pin 2 of motor movement control
     *  @param int3 pin 3 of motor movement control
     *  @param int4 pin 4 of motor movement control
        @param speedA speed control of motorA
        @param speedB speed control of motorB
     */
    MotorDriver(PinName int1, PinName int2, PinName int3, PinName int4, PinName speedA, PinName speedB):_int1(int1),_int2(int2),_int3(int3),_int4(int4),_speedA(speedA),_speedB(speedB) {
        _int1 = 0;
        _int2 = 0;
        _int3 = 0;
        _int4 = 0;
    };

    /** set motor to initialized state
     */
    void init();

    /** config position of motor
     *  @param position the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed
     *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
     */
    void configure(uint8_t position, uint8_t motorID);

    /** set speed of motor
     *  @param speed speed value set to motor, [0,100] will be allowed
     *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
     */
    void setSpeed(uint8_t speed, uint8_t motorID);

    /** set direction of motor,
     *  @param direction the direction of motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
     *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
     */
    void setDirection(uint8_t direction, uint8_t motorID);

    /** rotate motor
     *  @param direction the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
     *  @param motor_position the position set to motor,MOTOR_POSITION_LEFT or MOTOR_POSITION_RIGHT will be allowed
     */
    void rotate(uint8_t direction, uint8_t motor_position);

    /** rotate motorA or motorB
     *  @param direction the direction set to motor, MOTOR_CLOCKWISE or MOTOR_ANTICLOCKWISE will be allowed
     *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
     */
    void rotateWithID(uint8_t direction, uint8_t motorID);

    /** make motor go forward
     */
    void goForward();

    /** make motor go backward
     */
    void goBackward();

    /** make motor go left
     */
    void goLeft();

    /** make motor go right
     */
    void goRight();

    /** make motor stop
     */
    void stop();

    /** make motorA or motorB stop
     *  @param motorID the ID define which motor will be set, you can choose MOTORA or MOTORB
     */
    void stop(uint8_t motorID);

    /** motor A
     */
    MotorStruct motorA;

    /** motor B
     */
    MotorStruct motorB;

private:

    DigitalOut  _int1;
    DigitalOut  _int2;
    DigitalOut  _int3;
    DigitalOut  _int4;
    SoftwarePWM _speedA;
    SoftwarePWM _speedB;
};
#endif