Initial commit

src/motorControl.cpp

@@ -0,0 +1,57 @@
+#include "motorControl.h"
+
+MotorControl::MotorControl(ShiftRegister* shiftRegister, uint8_t pwmPin,
+                           uint8_t dirPinA, uint8_t dirPinB, uint8_t endstopPinA,
+                           uint8_t endstopPinB)
+            : Motor(shiftRegister, pwmPin, dirPinA, dirPinB) {
+    pinMode(this->endstopPinA, INPUT);
+    pinMode(this->endstopPinB, INPUT);
+    this->endstopPinA = endstopPinA;
+    this->endstopPinB = endstopPinB;
+}
+
+void MotorControl::loop() {
+    if (millis() - this->lastMillis < this->loopDelay)
+        return;
+
+    if (readPin(this->endstopPinA))
+        this->endstopTouched = Direction::Left;
+    else if (readPin(this->endstopPinB))
+        this->endstopTouched = Direction::Right;
+    else
+        this->endstopTouched = Direction::None;
+
+    if (this->direction == this->endstopTouched)
+        this->stop();
+
+    this->lastMillis = millis();
+}
+
+
+
+bool MotorControl::start() {
+    if (this->direction == this->endstopTouched)
+        return false;
+
+    this->configureMotor();
+    return true;
+}
+
+bool MotorControl::getEndStopLeft() {
+    return readPin(this->endstopPinA);
+}
+
+bool MotorControl::getEndStopRight() {
+    return readPin(this->endstopPinB);
+}
+
+bool MotorControl::readPin(uint8_t pin) {
+    bool res = false;
+    
+    if (pin == 20 || pin == 21)
+        res = (analogRead(pin) > 512);
+    else
+        res = digitalRead(pin);
+
+    return res;
+}