Motor.H

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// The contents of this file are subject to the Mozilla Public License
// Version 1.0 (the "License"); you may not use this file except in
// compliance with the License. You may obtain a copy of the License
// at http://www.mozilla.org/MPL/
// 
// Software distributed under the License is distributed on an "AS IS"
// basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See
// the License for the specific language governing rights and
// limitations under the License.

#ifndef _Motor_H_
#define _Motor_H_

#include <config.h>

#if defined(CONF_DMOTOR)

#include <conio.h>      // for the delay() function
#include <dmotor.h>

class Motor {
public:
  enum Port {
         A,  
                 B,  
                 C   
           }; 

  enum Limits { 
           min = 0,     
                   max = 255    
           };

  Motor(const Port port) 
    : ms(port == A ? motor_a_speed : 
         (port == B) ? motor_b_speed :
         motor_c_speed), 
         md(port == A ? motor_a_dir : 
            (port == B) ? motor_b_dir :
            motor_c_dir)
  { }
  ~Motor() {off();}
  const void speed(const unsigned char speed) const { (*ms)(speed); }
  const void direction(const MotorDirection dir) const { (*md)(dir); }
  const void forward() const { direction(fwd); }
  const void forward(const unsigned char s) const { forward(); speed(s); }
  const void reverse() const { direction(rev); }
  const void reverse(const unsigned char s) const { reverse(); speed(s); }
  const void brake() const { direction(::brake); }
  const void brake(int duration) const { brake(); delay(duration); }
  const void off() const { direction(::off); }

private:
  void (*ms)(unsigned char speed);              
  void (*md)(const MotorDirection dir); 
};

#else // CONF_DMOTOR
#warning Enable CONF_DMOTOR to use Motor.H
#endif // CONF_DMOTOR
#endif // _Motor_H_

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