A4988_DC.h

/*
 *  DC MOTOR CLASS FOR A4988 DRIVER
 *  Based on: http://www.robotshop.com/letsmakerobots/files/A4988RobotV2.txt
 *  Created By Pablo Luaces <pablo.luaces@gmail.com>
 *
 *  ¿How to use?
 *  
 *  1 - Declare Motor type var after setup() [Motor* myMotor]
 *  2 - Instantiate new Motor in var created before [myMotor = new Motor()]
 *  3 - Use predefined public methods [myMotor->method()]
 *
 *  Public Methods
 *  
 *  setPins((int) step, (int) enable, (int) reset)
 *  setDirection((bool) direction) [0 Forward, 1 Reverse]
 *  setSpeed((int) speed) [Min 0, Max 255]
 *  toggleDirection()
 *  run()
 *  stop()
 *  
 */ 

class Motor{
  
  private:
  
    uint8_t _stPin, _enPin, _rstPin; // Wiring
    int _pwmSpeed = 255; // 0~255
    bool _turnDirection = 0; // 0 Forward, 1 Reverse

    void _setPins(){
      pinMode(this->_stPin, OUTPUT);
      pinMode(this->_rstPin, OUTPUT);
      pinMode(this->_enPin, OUTPUT);
      
      digitalWrite(this->_rstPin, HIGH); // Active low
      digitalWrite(this->_enPin, HIGH); // Active low
    }

    void _motorDirection(){
      unsigned int pulseModulation = (this->_turnDirection)? 2:0;
      
      digitalWrite(this->_rstPin, LOW);
      delayMicroseconds(5);
      digitalWrite(this->_rstPin, HIGH);
      
      for(int i=0;i<pulseModulation;i++){
        digitalWrite(this->_stPin, HIGH);
        delayMicroseconds(800);
        digitalWrite(this->_stPin, LOW);
        delayMicroseconds(800);
      }
    }

    void _motorSpeed(){
      analogWrite(this->_enPin, this->_pwmSpeed);
    }

    void _motorStop(){
      digitalWrite(this->_enPin, HIGH);
    }
  
  public:
  
    void setPins(uint8_t stPin, uint8_t enPin, uint8_t rstPin){
      this->_stPin = stPin;
      this->_rstPin = rstPin;
      this->_enPin = enPin;
      this->_setPins();
    }

    void setDirection(bool turnDirection){ // 0 Forward, 1 Reverse
      this->_turnDirection = turnDirection;
      this->_motorDirection();
    }
    
    void setSpeed(int pwmSpeed){ // 0~255
      this->_pwmSpeed = (255 - pwmSpeed);
      this->_motorSpeed();
    }

    void toggleDirection(){
      if (this->_turnDirection) this->_turnDirection = 0; // Forward
      else this->_turnDirection = 1; // Reverse
      this->_motorDirection();
    }

    void run(){
      this->_motorDirection();
      this->_motorSpeed();
    }

    void stop(){
      this->_motorStop();
    }
};