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| | [[File:OOPARD8.jpg]] |
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| // Defining a class for motor control
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| class MotoMamaMotor {
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| private: // the following definitions are only of „internal use“ for the class itself
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| int forwardPin; //Every MotoMamaMotor type Object has its own forwardPin
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| int reversePin;
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| int throttlePin;
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| public: // the following qualities and methods are visible from the outside.
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| // This setup-Function has to be called before using the motor control
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| void setup(int newForwardPin, int newReversePin, int newThrottlePin) {
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| // we remember the pins for future use
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| forwardPin = newForwardPin;
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| reversePin = newReversePin;
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| throttlePin = newThrottlePin;
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| // and at the same time we initialize the outputs !
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| digitalWrite(throttlePin, LOW); // so that the motors don’t spin directly from the beginning ..
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| pinMode(forwardPin, OUTPUT);
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| pinMode(reversePin, OUTPUT);
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| pinMode(throttlePin, OUTPUT);
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| }
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| // this Function allows to control the motor speed
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| void setThrottle (int newThrottle) {
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| if (newThrottle > 0) { // should it spin forwards or backwards?
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| // spin forwards
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| digitalWrite(reversePin, LOW);
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| digitalWrite(forwardPin, HIGH);
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| } else {
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| // spin backwards
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| digitalWrite(forwardPin, LOW);
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| digitalWrite(reversePin, HIGH);
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| }
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| // adjust the speed:
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| analogWrite(throttlePin, newThrottle);
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| }
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| };
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| // create two separate MotoMamaMotor type Objects (leftMotor, rightMotor). They can be used as normal variables.
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| MotoMamaMotor leftMotor;
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| MotoMamaMotor rightMotor;
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| void setup() { // this is our „main“ setup Function
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| leftMotor.setup(3, 4, 5); // assign the pin numbers for each motor in the setup Function: setup(int newForwardPin, int newReversePin, int newThrottlePin)
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| rightMotor.setup(6, 7, 8);
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| };
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| void loop() { // this is our „main“ loop Function where concrete actions are executed. For example:
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| // Start backwards, slow down and accelerate forwards
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| for (int i = -255, i <= 255; i++) {
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| leftMotor.setThrottle(i);
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| rightMotor.setThrottle(i);
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| };
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| // Start forwards, slow down and accelerate backwards
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| for (int i = 255, i >= -255; i--) {
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| leftMotor.setThrottle(i);
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| rightMotor.setThrottle(i);
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| };
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| };
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| ==Organizing classes in separate files== | | ==Organizing classes in separate files== |
