BrickUp-Docker-API-Service/libs/BuilderLibrary/libraries/thirdparty/FR_DCMotor/FR_DCMotor.cpp

#include "FR_DCMotor.h" 


FR_DCMotor::FR_DCMotor(byte pinF,byte pinR)
{
  _pinF=pinF;
  _pinR=pinR;
  init();
}

void FR_DCMotor::init()
{
  pinMode(_pinF,OUTPUT);
  pinMode(_pinR,OUTPUT);
}

void FR_DCMotor::rotate(char dir, byte speed)
{
  if(dir=='f' || dir=='F')
  {
    analogWrite(_pinR,0);
    for(int i=speed/4;i<=speed;i++)
      analogWrite(_pinF,i);
    
  }
  else if(dir=='r' || dir=='R')
  {
    analogWrite(_pinF,0);
    for(int i=speed/4;i<=speed;i++)
      analogWrite(_pinR,i);
  }
  else if(dir=='s' || dir=='S')
  {
    analogWrite(_pinF,0);
    analogWrite(_pinR,0);
  }
}

void FR_DCMotor::rotate(char dir)
{
  if(dir=='s' || dir=='S')
  {
    analogWrite(_pinF,0);
    analogWrite(_pinR,0);
  }
}