JMotorDriverPCA9685HBridge.h

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#ifndef JMOTOR_DRIVER_PCA9685HBRIDGE_H
#define JMOTOR_DRIVER_PCA9685HBRIDGE_H
 
#include "JMotorDriver.h"
#include <Arduino.h>
#include <PCA9685.h>
class JMotorDriverPCA9685HBridge : public JMotorDriver {
protected:
    bool enabled = false;
    bool reverse;
    bool breakWhenEnabled;
    bool breakWhenDisabled;
    byte channelPos;
    byte channelNeg;
    PCA9685& pca9685;
    float lastVal;
 
public:
    JMotorDriverPCA9685HBridge(PCA9685& _pca9685, byte _channelPos, byte _channelNeg, bool _reverse = false, bool _breakWhenEnabled = true, bool _breakWhenDisabled = false)
        : pca9685(_pca9685)
    {
        channelPos = _channelPos;
        channelNeg = _channelNeg;
        enabled = false;
        reverse = _reverse;
        breakWhenEnabled = _breakWhenEnabled;
        breakWhenDisabled = _breakWhenDisabled;
        lastVal = NAN;
    }
    void setBreakWhenEnabled(bool _breakWhenEnabled)
    {
        breakWhenEnabled = _breakWhenEnabled;
    }
    void setBreakWhenDisabled(bool _breakWhenDisabled)
    {
        breakWhenDisabled = _breakWhenDisabled;
    }
    void setReverse(bool _reverse)
    {
        reverse = _reverse;
    }
    bool set(float val)
    {
        if (reverse) {
            val = -val;
        }
        const byte dutyCycleMax = pca9685.getDutyCycleMax();
        if (enabled) {
            val = val * dutyCycleMax;
            val = constrain(val, -dutyCycleMax, dutyCycleMax);
            if (val != lastVal) {
                if (val == 0 || isnan(val)) {
                    if (breakWhenEnabled) {
                        pca9685.setChannelDutyCycle(channelPos, dutyCycleMax);
                        pca9685.setChannelDutyCycle(channelNeg, dutyCycleMax);
                    } else {
                        pca9685.setChannelDutyCycle(channelPos, 0);
                        pca9685.setChannelDutyCycle(channelNeg, 0);
                    }
                } else {
                    if (val > 0) {
                        pca9685.setChannelDutyCycle(channelNeg, 0);
                        pca9685.setChannelDutyCycle(channelPos, val);
                    } else {
                        pca9685.setChannelDutyCycle(channelPos, 0);
                        pca9685.setChannelDutyCycle(channelNeg, -val);
                    }
                }
            }
            lastVal = val;
        }
        return abs(val) < dutyCycleMax;
    }
    bool setEnable(bool _enable)
    {
        if (_enable) {
            if (!enabled) {
                // actually enable
                if (breakWhenEnabled) {
                    pca9685.setChannelDutyCycle(channelPos, pca9685.getDutyCycleMax());
                    pca9685.setChannelDutyCycle(channelNeg, pca9685.getDutyCycleMax());
                } else {
                    pca9685.setChannelDutyCycle(channelPos, 0);
                    pca9685.setChannelDutyCycle(channelNeg, 0);
                }
                lastVal = NAN;
                enabled = true;
                return true;
            }
        } else { // disable
            if (enabled) {
                // actually disable
                if (breakWhenDisabled) {
                    pca9685.setChannelDutyCycle(channelPos, pca9685.getDutyCycleMax());
                    pca9685.setChannelDutyCycle(channelNeg, pca9685.getDutyCycleMax());
                } else {
                    pca9685.setChannelDutyCycle(channelPos, 0);
                    pca9685.setChannelDutyCycle(channelNeg, 0);
                }
                enabled = false;
                return true;
            }
        }
        return false;
    }
    bool getEnable()
    {
        return enabled;
    }
    float getMaxRange()
    {
        return 1.0;
    }
    float getMinRange()
    {
        return -1.0;
    }
};
 
#endif // JMOTOR_DRIVER_PCA9685HBRIDGE_H