File content as of revision 1:0afd9f1a4e4f:

/*
 * MD03 : 24v 20A H-bridge motor driver in I2C bus
 */
#include "mbed.h"
#include "MD03.h"
 
MD03::MD03(PinName sda, PinName scl, int i2cAddress)  : _i2c(sda, scl) {
    _writeOpcode = i2cAddress & 0xFE;
    _readOpcode  = i2cAddress | 0x01;
    
    _i2c.frequency(100000);
}
 
void MD03::set_speed(int speed) 
{
char data[2];

    data[0] = MD03_SPEED;
    data[1] = ((speed * 255)/100);
    _i2c.write(_writeOpcode, data, 2);
}

void MD03::set_accel(int acceleration) 
{
char data[2];

    data[0] = MD03_ACCELERATION;
    data[1] = 255 - ((acceleration * 255)/100);
    _i2c.write(_writeOpcode, data, 2);
}

void MD03::stop(void) 
{
char data[2];

    data[0] = MD03_COMMAND;
    data[1] = MD03_CMD_STOP;
    _i2c.write(_writeOpcode, data, 2);
}

void MD03::move_forward(void) 
{
char data[2];

    data[0] = MD03_COMMAND;
    data[1] = MD03_CMD_FORWARD;
    _i2c.write(_writeOpcode, data, 2);
}

void MD03::move_reverse(void) 
{
char data[2];

    data[0] = MD03_COMMAND;
    data[1] = MD03_CMD_REVERSE;
    _i2c.write(_writeOpcode, data, 2);
}

char MD03::read_reg(int reg) 
{
char data[2];

    data[0] = reg;
    _i2c.write(_writeOpcode, data, 1);
    _i2c.read(_readOpcode, data, 1);
    return data[0];
}