Motors.h

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#ifndef MOTORS_H
#define MOTORS_H
 
#include <Arduino.h>
 
#include <Supported_actuator.h>

class Mtr : public Supported_actuator {
    private:
        // the PWM channel of the motor
        const uint32_t pwm_ch;
        // the PWM pin of the motor port
        const uint32_t pwm_pin;
        // the direction pin of the motor port
        const uint32_t dir_pin;
 
        // whether the motor reverses spinning direction
        bool reverse_dir;
        // the apparent speed of the motor as seen by the programmer
        int16_t apparent_spd;

        void set_raw_spd (int16_t spd);

        friend void XRCU_menu ();
    
    public:
        Mtr (const uint32_t pwm_ch, const uint32_t pwm_pin, const uint32_t dir_pin);

        void begin ();

        void end ();

        bool get_reverse_flag ();

        void set_reverse_flag (bool reverse);

        int16_t set_spd (int16_t spd);

        int16_t operator= (const int16_t spd);

        int16_t operator+= (const int16_t spd_inc);

        int16_t operator-= (const int16_t spd_dec);

        int16_t operator++ ();

        int16_t operator-- ();

        int16_t get_spd ();

        operator int16_t ();
};

extern Mtr mtrs [4];

extern Mtr &mtr1;

extern Mtr &mtr2;

extern Mtr &mtr3;

extern Mtr &mtr4;
 
#endif // #ifndef MOTORS_H