JMotorDriverAvrL293.h

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#ifndef J_MOTOR_DRIVER_AVR_L293_H
#define J_MOTOR_DRIVER_AVR_L293_H
#include "JMotorDriver.h"
#include "JMotorDriverAvrPWM.h"
#include <Arduino.h>
class JMotorDriverAvrL293 : public JMotorDriver {
private:
    bool enabled = false;
    byte i1;
    byte i2;
 
public:
    JMotorDriverAvrPWM pwmDriver;
    bool breakOn; // can be changed while running
    bool reverse;
    JMotorDriverAvrL293(byte _en, byte _i1, byte _i2, bool _breakOn = true, bool breakWhenDisabled = false, bool _reverse = false)
        : pwmDriver { _en, breakWhenDisabled }
    {
        enabled = false;
        i1 = _i1;
        i2 = _i2;
        breakOn = _breakOn;
        reverse = _reverse;
    }
    bool set(float val)
    {
        if (reverse) {
            val = -val;
        }
        if (enabled) {
            if (val > 0) {
                digitalWrite(i2, LOW);
                digitalWrite(i1, HIGH);
            } else if (val < 0) {
                digitalWrite(i1, LOW);
                digitalWrite(i2, HIGH);
            } else {
                digitalWrite(i1, HIGH);
                digitalWrite(i2, HIGH);
            }
            if (breakOn && val == 0) {
                pwmDriver.set(1); // activate break
            } else {
                pwmDriver.set(abs(val));
            }
        }
        return abs(val) < 1.0;
    }
    bool setEnable(bool _enable)
    {
        if (_enable) {
            if (!enabled) {
                // actually enable
                enabled = true;
                pinMode(i1, OUTPUT);
                pinMode(i2, OUTPUT);
                digitalWrite(i1, LOW);
                digitalWrite(i2, LOW);
                pwmDriver.setEnable(true);
                return true;
            }
        } else { // disable
            if (enabled) {
                // actually disable
                enabled = false;
                pinMode(i1, OUTPUT);
                pinMode(i2, OUTPUT);
                digitalWrite(i1, LOW);
                digitalWrite(i2, LOW);
                pwmDriver.setEnable(false);
                return true;
            }
        }
        return false;
    }
    bool getEnable()
    {
        return enabled;
    }
    float getMaxRange()
    {
        return 1.0;
    }
    float getMinRange()
    {
        return -1.0;
    }
};
 
#endif