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MC34933.h

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+/*
+ MC34933.h - Library for the Toshiba MC34933 motor driver.
+ Created by TheDIYGuy999 June - November 2016
+ Released into the public domain.
+ 
+ This is Version 1.2
+ 
+ Change history:
+ 
+ V1.1:
+ The pin configuration was moved to the separate begin() function.
+ Change your existing programs in accordance with the provided example
+ 
+ V1.2:
+ minPWM input variable added to the drive() function.
+ Allows to eliminate the backlash in self balancing applications
+ */
+
+
+#ifndef MC34933H
+#define MC34933H
+
+#include "Arduino.h"
+
+// Class definition (header) ========================================================================
+class MC34933 {
+    public:
+    MC34933();
+    void begin(int pin1, int pin2, int minInput, int maxInput, int neutralWidth, bool invert);
+    bool drive(int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake);
+    bool brakeActive();
+    
+    private:
+    int _pin1;
+    int _pin2;
+    int _pwmPin;
+    int _minInput;
+    int _maxInput;
+    int _minNeutral;
+    int _maxNeutral;
+    int _controlValue;
+    int _controlValueRamp;
+    int _minPWM;
+    int _maxPWM;
+    int _rampTime;
+    bool _neutralBrake;
+    bool _invert;
+    unsigned long _previousMillis = 0;
+    unsigned long _previousMillisBrake = 0;
+    byte _state = 0;
+    byte _forward;
+    byte _reverse;
+    byte _upwards;
+    byte _downwards;
+};
+
+#endif //MC34933H