Created StopTest

Author: aronhoff

ArduinoTest/StopTest/MotorControls.cpp

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+#include "MotorControls.h"
+
+#include <Arduino.h>
+
+MotorControls::MotorControls() {
+  pinMode(bcc_pin, OUTPUT);
+  digitalWrite(bcc_pin, LOW);
+  delay(20);
+  stop();
+}
+
+void MotorControls::write(short duration) const {
+  if (duration > 20) {
+    return;
+  }
+  digitalWrite(bcc_pin, HIGH);
+  delay(duration);
+  digitalWrite(bcc_pin, LOW);
+  delay(20 - duration);
+}
+
+void MotorControls::leftOverride() {
+  state = LEFT_OVERRIDE;
+  write(6);
+}
+
+void MotorControls::rightOverride() {
+  state = RIGHT_OVERRIDE;
+  write(8);
+}
+
+void MotorControls::go() {
+  state = GOING;
+  write(4);
+}
+
+void MotorControls::stop() {
+  state = STOPPED;
+  write(2);
+}
+
+void MotorControls::reducePower() {
+  write(12);
+}
+
+void MotorControls::halfPower() {
+  write(16);
+}
+
+void MotorControls::fullPower() {
+  write(18);
+}
+
+MotorState MotorControls::getState() const {
+  return state;
+}
+

ArduinoTest/StopTest/MotorControls.h

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+#pragma once
+
+enum MotorState {
+  STOPPED,
+  GOING,
+  LEFT_OVERRIDE,
+  RIGHT_OVERRIDE
+};
+
+class MotorControls {
+ private:
+    static const short bcc_pin = 3;
+
+    MotorState state = STOPPED;
+
+    void write(short duration) const;
+
+ public:
+    MotorControls();
+    void leftOverride();
+    void rightOverride();
+    void go();
+    void stop();
+    void reducePower();
+    void halfPower();
+    void fullPower();
+    MotorState getState() const;
+};

ArduinoTest/StopTest/StopTest.ino

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+#include "MotorControls.h"
+
+void setup()
+{
+  delay(1000);
+  MotorControls motor;
+  motor.go();
+  motor.fullPower();
+  delay(500);
+  motor.halfPower();
+  delay(500);
+  motor.reducePower();
+  motor.reducePower();
+  motor.reducePower();
+  delay(100);
+  motor.stop();
+}
+
+void loop() { }