#include "Motor.h"
#include "Arduino.h"

Motor::Motor(int pinPwm, int pinDir, int dirForward) 
    {
        _pinPwm = pinPwm;
        _pinDir = pinDir;
        _dirForward = dirForward;
        if (dirForward==LOW)
        {
            _dirForward=LOW;
            _dirBackward=HIGH;
        }
        else 
        {
            _dirForward=HIGH;
            _dirBackward=LOW;
        }
        _currentDir = motorForward;
        
        pinMode(_pinPwm,OUTPUT);
        pinMode(_pinDir,OUTPUT);
    }

void Motor::setSpeed(int speed)
    {
        setDirection (_currentDir);
        analogWrite(_pinPwm, speed);
    }

void Motor::setDirection(MotorDirection dir)
    {
        _currentDir=dir;
        if (_currentDir == motorForward)
        {
            digitalWrite(_pinDir, _dirForward);
        }
        else
        {
            digitalWrite(_pinDir, _dirBackward);
        }
    }

void Motor::Stop() 
    {
        setSpeed (0);
    }