JMotorDriverEsp32PWMDir.h

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#ifndef J_MOTOR_DRIVER_ESP32_PWMDIR_H
#define J_MOTOR_DRIVER_ESP32_PWMDIR_H
#include "JMotorDriver.h"
#include "JMotorDriverEsp32PWM.h"
#include <Arduino.h>
class JMotorDriverEsp32PWMDir : public JMotorDriver {
private:
    bool enabled = false;
    byte dir;
 
public:
    JMotorDriverEsp32PWM pwmDriver;
    bool reverse = false;
    JMotorDriverEsp32PWMDir(byte _ch, byte _enablePin, byte _dirPin, bool _rev = false)
        : pwmDriver { _ch, _enablePin }
    {
        enabled = false;
        dir = _dirPin;
    }
    JMotorDriverEsp32PWMDir(byte _ch, byte _enPin, byte _dirPin, int freq, int resolution, bool _rev = false)
        : pwmDriver { _ch, _enPin, freq, resolution }
    {
        enabled = false;
        dir = _dirPin;
    }
    bool set(float val)
    {
        if (enabled) {
            if (val > 0) {
                digitalWrite(dir, !reverse);
            } else if (val < 0) {
                digitalWrite(dir, reverse);
            } else {
            }
            pwmDriver.set(abs(val));
        }
        return abs(val) < 1.0;
    }
    bool setEnable(bool _enable)
    {
        if (_enable) {
            if (!enabled) {
                // actually enable
                enabled = true;
                pinMode(dir, OUTPUT);
                pwmDriver.setEnable(true);
                return true;
            }
        } else { // disable
            if (enabled) {
                // actually disable
                enabled = false;
                pwmDriver.setEnable(false);
                return true;
            }
        }
        return false;
    }
    bool getEnable()
    {
        return enabled;
    }
    float getMaxRange()
    {
        return 1.0;
    }
    float getMinRange()
    {
        return -1.0;
    }
};
#endif