Motor Class

The motor class controls the four DC motors that were used in this project. It was designed to work with the Adafruit Motor Shield

.cpp Code

#include "motor.h"
#include <Adafruit_MotorShield.h> //wrapper library

motor :: motor (Adafruit_MotorShield*shieldPtr, byte motornumber, boolean polarity){
  m_motornumber = motornumber; //changes the motor number, based on what number is entered
  m_polarity = polarity; //polarity check, negative and positive leads connection
  m_motor = shieldPtr -> getMotor(motornumber); //a pointer using the adafruit motorshield library
  m_command =0;
  m_dutyCycle =0;
}

void motor :: setDrive(unsigned int dutyCycle, unsigned int command){
  m_dutyCycle = dutyCycle; //PWM that sets the speed of the motor
  m_command = command; //command used for FORWARD,BACKWARD,or RELEASE
  if(command == RELEASE)
    m_motor -> run(RELEASE);
  else if((m_polarity && m_command == FORWARD)||(!m_polarity && m_command == BACKWARD))
    m_motor->run(FORWARD); //checks the polarity and sets the wheel to move accordingly 
  else
    m_motor->run(BACKWARD);
    m_motor ->setSpeed(m_dutyCycle);
}

unsigned int Motor :: getDrive(){
  return(m_dutyCycle); //whats the speed from 0-255
}

void Motor::stop(){
  m_motor->setSpeed(0); //stop the wheels
}

.h Code

#include <Adafruit_MotorShield.h>
#ifndef motor_h //if this library isn't included already, include
#define motor_h

class motor{
  private:
    byte m_motornumber;
    boolean m_polarity;
    Adafruit_DCMotor*m_motor; //accesses the Adafruit library with a pointer
    unsigned int m_command;
    unsigned int m_dutyCycle;

  public:
    motor(Adafruit_MotorShield*shieldPtr,byte motorNumber, boolean polarity);
    void setDrive(unsigned int drive, unsigned int command);
    void stop();
    unsigned int getDrive();
};

#endif