BrushedMotor.hpp

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#pragma once
 
#include <stdint.h> // NOLINT(modernize-deprecated-headers)
 
#include "../../../runtime/Runtime.hpp"
#include "../../Motor.hpp"
 
struct BrushedMotorPins
{
    BrushedMotorPins(uint8_t forwardPin, uint8_t backwardPin, uint8_t enablePin)
        : forward{ forwardPin }
        , backward{ backwardPin }
        , enable{ enablePin }
    {
    }
 
    const uint8_t forward;  // NOLINT: It's OK for these to be public
    const uint8_t backward; // NOLINT
    const uint8_t enable;   // NOLINT
};
 
class BrushedMotor : public Motor
{
public:
    BrushedMotor(Runtime& runtime, uint8_t forwardPin, uint8_t backwardPin, uint8_t enablePin);
 
    BrushedMotor(Runtime& runtime, BrushedMotorPins pins);
 
    /* Check `Motor` interface for documentation */
    void setSpeed(int speed) override;
 
private:
    void attach();
    const uint8_t kForwardPin;
    const uint8_t kBackwardPin;
    const uint8_t kEnablePin;
    Runtime& mRuntime;
    const uint8_t kOutput;
    const uint8_t kLow;
    const uint8_t kHigh;
    bool mAttached{ false };
};