File content as of revision 2:6f6e591f1838:

#ifndef YELLOWMOTORS_H
#define YELLOWMOTORS_H

#include "mbed.h"
extern Serial pc;
extern DigitalIn s1;
// this is rather strange case, because my motors aren't performing both well. Left one has far weaker, causing delayed start-up and lower RPM. Thus my functions differ. I have a whole bigass spreadsheet of graphs and calculations by the way.

float motorLinearizationL(float);  // left motor is worse. at max desired speed it'll run at full 100% speed. this is thus weaker compensation.
float motorLinearizationR(float);  //  this is stronger compensation for more powerful motor. it runs it at < 100% speed

class YellowMotors
{
private:
    DigitalOut _clk;
    DigitalOut _lat;
    DigitalOut _dat;
    DigitalOut _ena; // OE active LOW
    char _directions;
    PinName Lpwm;
    PinName Rpwm;
public:
    YellowMotors(PinName clk = D4, PinName  lat = D12, PinName  dat = D8, PinName ena = D7, PinName Lpwm = D11, PinName Rpwm = D3);
    void setDirections(char); // shift directions to shift register on Adafruit motor shield v1
    class motorItself  // define a class for separate motors objects.
    {
    private:
        PwmOut _pwmPin;
        float _pwmSigned; // signed with direction
    public:
        int speed;
        motorItself(PinName pwmPin): _pwmPin(pwmPin) {};  // fuck you, you default constructor.
        
        explicit motorItself(float value): _pwmPin(D0) {  // _pwmPin(FUCKYOU) , pwm has no default constructor.. JEEEZ
            this->_pwmSigned = value; // store this value;
            //_pwmPin = abs(value); // to be done: apply linearization
            pc.printf("explicit glupi/n/r");
        }
        

        //operator float();
        void operator= (const float value) {
            this->_pwmSigned = value; // store this value;
            this->_pwmPin.write(abs(value)); // to be done: apply linearization
            pc.printf("jestem w operatorze =. przypisuje %.2f. odczyt: %f\n\r", abs(value), _pwmPin.read());
        };
        bool operator== ( float value) {
            return abs(this->_pwmSigned) == value ;
        }
        //float operator= (const motorItself & toreturn) {
        //    return toreturn._pwmSigned; // return current desired speed with direction indication
        //};
    };
    motorItself L(PinName pin = D8);
    motorItself R(PinName pin = D11);

};

#endif