/**
 *
 *  MOTOR.h
 *  Jan Dvorak z Vozerovic - dvorkaman@centrum.cz - dvorkaman.php5.cz
 */   
#ifndef sedmiseg_h
#define sedmiseg_h
  
#include "WProgram.h"
 
/**************************************
/*
 * Declaration of class Motor
 * This class controls one DC motor through forward, backward (, enable) pins 
 */
class Motor
{
    public:
      Motor(int fw, int bw);   
      Motor(int fw, int bw,int enable);     
     
      void changeMotorSpeed(int mSpeed); //0 - 100%
      void changePWM(int pwm); //0 - 255
      void stopMotor();
      void startMotor();
      void forward();
      void backward();
      void forward(int mSpeed);
      void backward(int mSpeed);      
      void breakMotor();
      void reverseMotor();
      
      int getMotorSpeed();
      int getMotorDirection();
      
      void setDirection(int d);
      void setMotorSpeed(int mSpeed); //PWM 0 - 255      
      
      /*
      void increaseMotorSpeed(int by);
      void decreaseMotorSpeed(int by);      
      void setMaxMotorSpeed(int mSpeed);
      void minMaxMotorSpeed(int mSpeed);
      inline int getMinMotorSpeed();            
      inline int getMaxMotorSpeed();                  
      */
    
    private:
      int pinFW;
      int pinBW;
      int pinEN;
      int dir; //direction - FW=1, BW=-1, free=0, break=2
      int spd; //speed - pwm 0-255
      int lastSpd;
      int lastDir;
      int minSpeed; //user bounds
      int maxSpeed;  

      void init();      
};

#endif