L298.h

/* L298.h - L298 Dual Full-Bridge Driver Control Library
 *
 * Copyright 2019-2020 Marcio Pessoa
 *
 * Author: Márcio Pessoa <marcio.pessoa@gmail.com>
 * Contributors: none
 *
 * Change log
 * 2019-02-12
 *         Fixed: Speed control was not working.
 *
 * 2018-12-26
 *         Added: setDeltaA() and setDeltaB() methods.
 *
 * 2018-12-25
 *         Added: getDeltaA() and getDeltaB() methods.
 *
 * 2018-12-24
 *         Added: getDirectionA() and getDirectionB() methods.
 *
 * 2017-11-04
 *         Experimental version.
 */

#ifndef L298_h
#define L298_h

#include "Arduino.h"

class L298 {
 public:
  L298();
  void attach(byte in1_pin, byte in2_pin,
              byte in3_pin=false, byte in4_pin=false);
  void stopA();
  void stopB();
  void directA(byte speed=255);
  void directB(byte speed=255);
  void reverseA(byte speed=255);
  void reverseB(byte speed=255);
  void setDeltaA(byte speed);
  void setDeltaB(byte speed);
  byte getDeltaA();
  byte getDeltaB();
  bool getDirectionA();
  bool getDirectionB();
 private:
  void update();
  byte _in1_pin;
  byte _in2_pin;
  byte _in3_pin;
  byte _in4_pin;
  byte _a1;
  byte _a2;
  byte _b1;
  byte _b2;
};

byte delta(byte x, byte y);
byte direction(byte x, byte y);

#endif