Initial commit

include/motorControl.h

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+#pragma once
+
+#include <Arduino.h>
+
+#include "motor.h"
+
+class MotorControl : public Motor{
+    public:
+        MotorControl(ShiftRegister* shiftRegister, uint8_t pwmPin, 
+                     uint8_t dirPinA, uint8_t dirPinB, uint8_t endstopPinA,
+                     uint8_t endstopPinB);
+
+        void loop();
+        bool start() override;
+
+        bool getEndStopLeft();
+        bool getEndStopRight();
+
+    private:
+        Direction endstopTouched = Direction::None;
+        bool readPin(uint8_t pin);
+
+        uint8_t endstopPinA;
+        uint8_t endstopPinB;
+
+        uint32_t lastMillis = 0;
+        uint8_t loopDelay = 20;
+};

library.json

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+{
+    "name": "MotorControl",
+    "version": "1.0.0",
+    "description": "Control Motor with end stops.",
+    "keywords": "motor, direction, engine, end stops",
+    "repository":
+    {
+      "type": "git",
+      "url": "https://git.kleiax.de/PlatformIO-Libs/MotorControl.git"
+    },
+    "authors":
+    [
+      {
+        "name": "Alexander Klein",
+        "email": "alex@kleiax.de",
+        "url": "https://www.kleiax.de/contact"
+      }
+    ],
+    "license": "MIT",
+    "homepage": "https://www.kleiax.de/",
+    "dependencies": {
+		"external-repo" : "https://git.kleiax.de/PlatformIO-Libs/Motor.git#v1.0"
+    },
+    "frameworks": "*",
+    "platforms": "*"
+  }

src/motorControl.cpp

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+#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;
+}