├── Changelog.md ├── LICENSE.md ├── README.md ├── examples ├── MotorControl_Demo │ └── MotorControl_Demo.ino └── SerialMotorControl │ └── SerialMotorControl.ino ├── extras ├── L293_standalone-HW-conf.png └── L293_twoWire-HW-conf.png ├── keywords.txt ├── library.properties └── src ├── L293.h ├── L293_base.cpp ├── L293_base.hpp ├── L293_std.cpp ├── L293_std.hpp ├── L293_twoWire.cpp └── L293_twoWire.hpp /Changelog.md: -------------------------------------------------------------------------------- 1 | # Change Log 2 | All notable changes to this project will be documented in this file. 3 | 4 | The format is based on [Keep a Changelog](http://keepachangelog.com/) 5 | and this project adheres to [Semantic Versioning](http://semver.org/). 6 | 7 | [![Keep a Changelog specification badge](https://img.shields.io/badge/Keep%20a%20Changelog%20Specification-1.0.0-orange.svg)](http://keepachangelog.com) 8 | [![Semantic Versioning specification badge](https://img.shields.io/badge/Semantic%20Versioning%20Specification-2.0.0-orange.svg)](http://semver.org) 9 | 10 | ## [4.0.2] - 2018-07-19 ## 11 | 12 | ## Fixed ## 13 | 14 | - Keyword highlighting for Arduino IDE 15 | 16 | ## [4.0.1] - 2018-02-28 ## 17 | 18 | ## Fixed ## 19 | 20 | - A bug that prevented the use of the library 21 | 22 | ## [4.0.0] - 2018-02-18 [YANKED] ## 23 | 24 | ### Added ### 25 | 26 | - Platformio library manager support 27 | 28 | ## Changed ## 29 | 30 | - Improved code safety and cleaning 31 | 32 | ### Removed ### 33 | 34 | - The ***getDirection()*** method 35 | 36 | ## [3.1.0] - 2017-06-17 ## 37 | 38 | ### Added ### 39 | 40 | - The following methods to detect the motor's status: 41 | - ***isForceStopped()*** 42 | - ***isStopped()*** 43 | - ***isForward()*** 44 | - ***isReverse()*** 45 | - Better Doxigen-style comments 46 | 47 | ### Changed ### 48 | 49 | - This changelog format is now based on [Keep a Changelog](http://keepachangelog.com/) 50 | - Rewrote the changelog to accomplish what about the previous point 51 | - Renamed the changelog file for the same purpose 52 | - **Updated the repository URL** 53 | - Updated **README.md** 54 | - Made the code more modular and extensible 55 | - Made a general cleanup of the code 56 | - Merged the examples that share most code 57 | 58 | ### Deprecated ### 59 | 60 | - The ***getDirection()*** method is now replaced by the methods ***isForward(), isReverse(), isStopped()*** and ***isForceStopped()*** 61 | 62 | ## [3.0.0] - 2017-01-04 ## 63 | 64 | ### Added ### 65 | 66 | - Now is possible to change the motor direction without affect the current speed using a dedicated method 67 | - A method to get the direction of the motor 68 | - A method to get the current PWM value 69 | - A method to **"force stop"** the motor 70 | 71 | ### Changed ### 72 | 73 | - Updated **README.md** 74 | - Now the class **L293\_standalone** is named **L293** 75 | - Rewrote the code for the **L293** class 76 | - Now the method **setSpeedOffset()** is named **setPWMOffset()** 77 | 78 | ### Fixed ### 79 | 80 | - A bug about the timing when switching a motor from the forward mode to the reverse mode and viceversa, now it is immediate 81 | 82 | ## [2.0.0] - 2016-10-16 ## 83 | 84 | ### Added ### 85 | 86 | - A new class named **L293\_twoWire**, derived from **L293\_standalone**, that adds support for motor control using only two wires. 87 | - Better comments to the code 88 | - The file **LICENSE.md** 89 | - New examples 90 | 91 | ### Changed ### 92 | 93 | - Corrected some mistakes in **README.md** 94 | - Updated the old examples 95 | - Now the class **L293** is named **L293\_ standalone** 96 | - Now the **speed Offset** can be a value beetween -255 and 255 97 | 98 | ## [1.0.1] - 2016-08-25 ## 99 | 100 | ### Removed ### 101 | 102 | - Some useless code 103 | 104 | ### Changed ### 105 | 106 | - Updated the repository URL 107 | - Rewrited **README.md** 108 | 109 | ## [1.0.0] - 2016-08-11 ## 110 | 111 | ### Added ### 112 | 113 | - Unreleased library files 114 | -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | Attribution-ShareAlike 4.0 International 2 | 3 | ======================================================================= 4 | 5 | Creative Commons Corporation ("Creative Commons") is not a law firm and 6 | does not provide legal services or legal advice. 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For 424 | the avoidance of doubt, this paragraph does not form part of the 425 | public licenses. 426 | 427 | Creative Commons may be contacted at creativecommons.org. 428 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # L293 # 2 | 3 | ![Project status badge](https://img.shields.io/badge/Project%20status-ACTIVE-brightgreen.svg) 4 | [![License badge](https://img.shields.io/badge/license-%20CC%20BY--SA%204.0-brightgreen.svg)](https://github.com/qub1750ul/Arduino_L293/blob/master/LICENSE.md) 5 | [![Arduino Library specification badge](https://img.shields.io/badge/Arduino%20Library%20Specification%20-rev.%202.1-blue.svg)](https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5:-Library-specification) 6 | [![Arduino IDE compatibility badge](https://img.shields.io/badge/Arduino%20IDE%20compatibility-1.6.10+-blue.svg)](https://www.arduino.cc/en/Main/Software) 7 | [![Keep a Changelog specification badge](https://img.shields.io/badge/Keep%20a%20Changelog%20Specification-1.0.0-orange.svg)](http://keepachangelog.com) 8 | [![Semantic Versioning specification badge](https://img.shields.io/badge/Semantic%20Versioning%20Specification-2.0.0-orange.svg)](http://semver.org) 9 | 10 | An Arduino library that allows to control bidirectional motors using the L293 IC and compatible L298 boards. 11 | 12 | ## Description ## 13 | 14 | This library is designed to make easy the control of bidirectional motors either for beginners or for experts, providing a level of abstraction over the direct "lower-level" management of the MCU I/O ports that drive the H-bridge(s). 15 | 16 | This means that the programmer haven't to care about the implementation of the control code and timings and can focus on the desired behavior. 17 | 18 | The main goal of this library is to be simple to use for beginners but flexible for experts. 19 | 20 | [Checkout the wiki for more information](https://github.com/qub1750ul/Arduino_L293/wiki/) 21 | 22 | ## About the author & license info ## 23 | 24 | 25 | Creative Commons License 26 | 27 |
28 | The L293 Library 29 | by Giuseppe Masino 30 | is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License 31 | 32 | If you need permissions that are beyond the scope of this license, you can ask me through this contacts, 33 | in order of preference: 34 | 35 | - Telegram : https://telegram.me/qub1750ul 36 | - Twitter : https://twitter.com/qub1750ul 37 | - Facebook page : https://facebook.com/dev.giuseppemasino/ 38 | 39 | The license text can be found in the LICENSE.md file 40 | -------------------------------------------------------------------------------- /examples/MotorControl_Demo/MotorControl_Demo.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * Bidirectional Motor Control with standalone L293 3 | * 4 | * Example of using L293 library to control one or more DC Birirectional Motors with the standalone configuration of the L293 5 | * 6 | * Created by Giuseppe Masino, 25 may 2016 7 | * Author URL http://www.facebook.com/dev.giuseppemasino 8 | * 9 | * This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License. 10 | * To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/. 11 | * ----------------------------------------------------------------------------------- 12 | * 13 | * Things that you need: 14 | * - Arduino\Genuino MEGA2560 15 | * (any Arduino\Genuino board can be used, the important is that the L293 pin 1 is connected to a PWM-enabled pin of Arduino) 16 | * (on the Arduino MEGA2560 all pins from 2 to 13 are PWM-enabled) 17 | * (use of pin 13 is discouraged because it can cause issues when the board resets) 18 | * 19 | * - L293 20 | * - A DC Birirectional Motor (max 5V-4mA) 21 | * 22 | * ----------------------------------------------------------------------------- 23 | * 24 | * The circuit ( standalone version ): 25 | * - Arduino pin 2 -> L293 pin 1 26 | * - Arduino pin 3 -> L293 pin 2 27 | * - Arduino pin 4 -> L293 pin 7 28 | * - Arduino GND -> L293 pin 4, 5 29 | * - Arduino 5V -> L293 pin 16, 8 30 | * 31 | * - L293 pin 3 -> a terminal of the motor 32 | * - L293 pin 6 -> the other terminal of the motor 33 | * 34 | * The circuit ( twoWire version ): 35 | * https://github.com/qub1750ul/Arduino_L293/blob/master/extras/L293_twoWire.svg 36 | * 37 | */ 38 | 39 | // by default this example uses the standalone version of the library 40 | // comment out the following row to switch to the twoWire version 41 | #define use_standalone 42 | 43 | // import the library in the sketch 44 | #include 45 | 46 | // give a name to the pins that we use 47 | const int speedPin = 2; // that is the pin that we use to control the motor's speed 48 | const int forwardPin = 3; // this is the pin that we use to tell the motor to go forward 49 | const int reversePin = 4; // this is the pin that we use to tell the motor to go reverse 50 | 51 | #ifdef use_standalone 52 | 53 | // make a new instance of the L293 library and call it "motor" 54 | // then show what are the pins used to control speed, to tell the motor to go forward and to tell the motor to go reverse 55 | L293 motor( speedPin, forwardPin, reversePin ); 56 | 57 | #else 58 | 59 | // if you using the twoWire version of the library only one pin is required to tell the direction 60 | // the forwardPin can do the job of the directionPin in this case 61 | L293_twoWire motor( speedPin, forwardPin ); 62 | 63 | #endif 64 | 65 | void setup() 66 | { 67 | // nothing to do in setup() 68 | } 69 | 70 | void loop() 71 | { 72 | motor.forward( 255 ); // set the direction and the speed of the motor 73 | delay( 1000 ); // wait for 1 second before doing else 74 | motor.back( 255 ); // set a new direction and the speed of the motor 75 | delay( 1000 ); // wait for 1 second before doing else 76 | motor.stop(); // stop the motor 77 | delay( 1000 ); // wait for 1 second before doing else 78 | 79 | // now the loop restarts 80 | } 81 | -------------------------------------------------------------------------------- /examples/SerialMotorControl/SerialMotorControl.ino: -------------------------------------------------------------------------------- 1 | /* 2 | * Serial Bidirectional Motor Control 3 | * 4 | * Example of using L293 library to control one or more DC Birirectional Motors via the Serial line 5 | * 6 | * Created by Giuseppe Masino, 28 may 2016 7 | * Author URL http://www.facebook.com/peppe.masino1 8 | * 9 | * This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License. 10 | * To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/. * 11 | * ----------------------------------------------------------------------------- 12 | * 13 | * Things that you need: 14 | * - Arduino\Genuino MEGA2560 15 | * (any Arduino\Genuino board can be used, the important is that the L293 pin 1 is connected to a PWM-enabled pin of Arduino) 16 | * (on the Arduino MEGA2560 all pins from 2 to 13 are PWM-enabled) 17 | * (use of pin 13 is discouraged because it can cause issues when the board resets) 18 | * 19 | * - L293 20 | * - A DC Birirectional Motor (max 5V-4mA) 21 | * 22 | * ----------------------------------------------------------------------------- 23 | * 24 | * The circuit ( standalone version ): 25 | * - Arduino pin 2 -> L293 pin 1 26 | * - Arduino pin 3 -> L293 pin 2 27 | * - Arduino pin 4 -> L293 pin 7 28 | * - Arduino GND -> L293 pin 4, 5 29 | * - Arduino 5V -> L293 pin 16, 8 30 | * 31 | * - L293 pin 3 -> a terminal of the motor 32 | * - L293 pin 6 -> the other terminal of the motor 33 | * 34 | * The circuit ( twoWire version ): 35 | * https://github.com/qub1750ul/Arduino_L293/blob/master/extras/L293_twoWire.svg 36 | * 37 | */ 38 | 39 | // by default this example uses the standalone version of the library 40 | // comment out the following row to switch to the twoWire version 41 | #define use_standalone 42 | 43 | 44 | // import the library in the sketch 45 | #include 46 | 47 | // these are constants and won't change 48 | // give a name to the pins that you use 49 | const int speedPin = 2; // that is the pin that we use to control the motor's speed 50 | const int forwardPin = 3; // this is the pin that we use to tell the motor to go forward 51 | const int reversePin = 4; // this is the pin that we use to tell the motor to go reverse 52 | 53 | #ifdef use_standalone 54 | 55 | // make a new istance of the L293 library and call it "motor" 56 | // then show what are the pins used to control speed, to tell the motor to go forward and to tell the motor to go reverse 57 | L293 motor( speedPin, forwardPin, reversePin ); 58 | 59 | #else 60 | 61 | // if you using the twoWire version of the library only one pin is required to tell the direction 62 | // the forwardPin can do the job of the directionPin in this case 63 | L293_twoWire motor( speedPin, forwardPin ); 64 | 65 | #endif 66 | 67 | void setup() 68 | { 69 | // these istructions will be executed one time 70 | 71 | Serial.begin( 9600 ); //enable serial communication 72 | } 73 | 74 | void loop() 75 | { 76 | if ( Serial.available() > 0 ) //check if there is an incoming command on the serial line 77 | { 78 | String command = Serial.readString(); //store the command in a variable 79 | 80 | // select the proper action 81 | if ( command == "f" ) motor.forward( 255 ); 82 | else if ( command == "r" ) motor.back( 255 ); 83 | else if ( command == "s" ) motor.stop(); 84 | } 85 | } 86 | -------------------------------------------------------------------------------- /extras/L293_standalone-HW-conf.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qub1750ul/Arduino_L293/647f1e22f35945f39837ca2d8e92ec7d7dd61d26/extras/L293_standalone-HW-conf.png -------------------------------------------------------------------------------- /extras/L293_twoWire-HW-conf.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qub1750ul/Arduino_L293/647f1e22f35945f39837ca2d8e92ec7d7dd61d26/extras/L293_twoWire-HW-conf.png -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | L293 KEYWORD1 DATA_TYPE 2 | L293_twoWire KEYWORD1 DATA_TYPE 3 | 4 | stop KEYWORD2 5 | forceStop KEYWORD2 6 | setPWMOffset KEYWORD2 7 | getRawPWMDC KEYWORD2 8 | getPWMDC KEYWORD2 9 | forward KEYWORD2 10 | back KEYWORD2 11 | isForward KEYWORD2 12 | isReverse KEYWORD2 13 | isStopped KEYWORD2 14 | isForceStopped KEYWORD2 15 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=L293 2 | version=4.0.2 3 | author=Giuseppe Masino (qub1750ul) 4 | maintainer=Giuseppe Masino (qub1750ul) 5 | sentence=A library to control motors with the L293x motor driver and L298x compatible modules 6 | paragraph= 7 | category=Device Control 8 | url=https://github.com/qub1750ul/Arduino_L293.git 9 | architectures=* 10 | dot_a_linkage=true 11 | includes=L293.h 12 | -------------------------------------------------------------------------------- /src/L293.h: -------------------------------------------------------------------------------- 1 | /* 2 | * L293 3 | * Library for the control of bidirectional motors and by the integrated circuit L293 4 | * 5 | * Created by Giuseppe Masino, 28 may 2016 6 | * Author URL: https://www.facebook.com/dev.giuseppemasino 7 | * Author email: dev.giuseppemasino@outlook.it 8 | * Author GitHub: https://github.com/qub1750ul 9 | * 10 | * License info: http://creativecommons.org/licenses/by-sa/4.0/ 11 | */ 12 | 13 | #pragma once 14 | 15 | #include "L293_std.hpp" 16 | #include "L293_twoWire.hpp" 17 | -------------------------------------------------------------------------------- /src/L293_base.cpp: -------------------------------------------------------------------------------- 1 | #include "L293_base.hpp" 2 | 3 | void L293_base :: setPWMOffset( int16_t _PWMOffset ) 4 | { 5 | PWMOffset = _PWMOffset; 6 | } 7 | 8 | void L293_base :: stop() const 9 | { 10 | analogWrite( enablePin, 0 ); 11 | } 12 | 13 | uint8_t L293_base :: getRawPWMDC() const 14 | { 15 | return RawPWMDC; 16 | } 17 | 18 | uint8_t L293_base :: getPWMDC() const 19 | { 20 | // Take the user-specified PWM value and, if it's set, apply the offset value to it 21 | // make sure that the returned value is within the limits of an unsigned 8-bit integer 22 | 23 | if( ( RawPWMDC + PWMOffset ) > 255 ) return 255; 24 | if( ( RawPWMDC + PWMOffset ) < 0 ) return 0; 25 | return RawPWMDC + PWMOffset; 26 | } 27 | -------------------------------------------------------------------------------- /src/L293_base.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | /** 6 | * L293_base 7 | * This is an abstract class that contains all the members that other classes 8 | * of the library shares in common. 9 | * So all other classes inherit from this. 10 | */ 11 | 12 | class L293_base 13 | { 14 | public: 15 | 16 | void setPWMOffset( int16_t _PWMOffset ) ; ///< Applys an offset over the speed value of the motor 17 | void stop() const ; ///< Stops the motor by power reduction 18 | uint8_t getRawPWMDC() const ; ///< Returns the last set speed value without applying the offset 19 | uint8_t getPWMDC() const ; ///< Return the effective last set speed value 20 | 21 | virtual void forward( uint8_t PWMDC = 0 ) = 0 ; 22 | virtual void back( uint8_t PWMDC = 0 ) = 0 ; 23 | virtual bool isForward() const = 0 ; 24 | virtual bool isReverse() const = 0 ; 25 | virtual bool isStopped() const = 0 ; 26 | 27 | protected: 28 | 29 | int16_t PWMOffset; ///< An offset value for the RawPWMDC 30 | uint8_t enablePin; ///< The MCU pin connected to the H-bridge's ENABLE pin 31 | uint8_t RawPWMDC; ///< The duty-cycle of the PWM signal applied to the enablePin 32 | 33 | }; 34 | -------------------------------------------------------------------------------- /src/L293_std.cpp: -------------------------------------------------------------------------------- 1 | #include "L293_std.hpp" 2 | 3 | L293 :: L293( uint8_t _enablePin, uint8_t _forwardPin, uint8_t _reversePin, int16_t _PWMOffset ) 4 | { 5 | enablePin = _enablePin; 6 | forwardPin = _forwardPin; 7 | reversePin = _reversePin; 8 | 9 | pinMode( enablePin, OUTPUT ); 10 | pinMode( forwardPin, OUTPUT ); 11 | pinMode( reversePin, OUTPUT ); 12 | 13 | PWMOffset = _PWMOffset; 14 | } 15 | 16 | void L293 :: forceStop( uint16_t handlingTime ) 17 | { 18 | if ( this->isForward() ) digitalWrite( reversePin, HIGH ); 19 | else if ( this->isReverse() ) digitalWrite( forwardPin, HIGH ); 20 | 21 | delay( handlingTime ); 22 | this->stop(); 23 | } 24 | 25 | void L293 :: forward( uint8_t _PWMDC ) 26 | { 27 | if( _PWMDC > 0 ) RawPWMDC = _PWMDC; 28 | 29 | this->stop(); 30 | digitalWrite( reversePin, LOW ); 31 | digitalWrite( forwardPin, HIGH ); 32 | analogWrite( enablePin, this->getPWMDC() ); 33 | } 34 | 35 | void L293 :: back( uint8_t _PWMDC ) 36 | { 37 | if( _PWMDC > 0 ) RawPWMDC = _PWMDC; 38 | 39 | this->stop(); 40 | digitalWrite( forwardPin, LOW ); 41 | digitalWrite( reversePin, HIGH ); 42 | analogWrite( enablePin, this->getPWMDC() ); 43 | } 44 | 45 | bool L293 :: isForward() const 46 | { 47 | return digitalRead( forwardPin ) && !digitalRead( reversePin ); 48 | } 49 | 50 | bool L293 :: isReverse() const 51 | { 52 | return !digitalRead( forwardPin ) && digitalRead( reversePin ); 53 | } 54 | 55 | bool L293 :: isForceStopped() const 56 | { 57 | return digitalRead( forwardPin ) && digitalRead( reversePin ); 58 | } 59 | 60 | bool L293 :: isStopped() const 61 | { 62 | return !digitalRead( forwardPin ) && !digitalRead( reversePin ); 63 | } 64 | -------------------------------------------------------------------------------- /src/L293_std.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "L293_base.hpp" 4 | 5 | /** 6 | * L293 7 | * This is the class that provides the standard functionality. 8 | * The hardware abstracted by this class connects to the MCU using three control wires. 9 | */ 10 | 11 | class L293 : public L293_base 12 | { 13 | public: 14 | 15 | L293( uint8_t _enablePin, uint8_t _forwardPin, uint8_t _reversePin, int16_t _speedOffset = 0 ); 16 | 17 | void forceStop( uint16_t handlingTime ); ///< Stops the motor by electrically braking it 18 | bool isForceStopped() const ; ///< Tells the information about the motor that the name says 19 | 20 | void forward( uint8_t _PWMDC = 0 ) override ; ///< Makes the motor to go forward and sets a new speed value 21 | void back( uint8_t _PWMDC = 0 ) override ; ///< Makes the motor to go reverse and sets a new speed value 22 | bool isForward() const override ; 23 | bool isReverse() const override ; 24 | bool isStopped() const override ; 25 | 26 | protected: 27 | 28 | uint8_t forwardPin; ///< The MCU pin connected to one of the H-bridge's inputs 29 | uint8_t reversePin; ///< The MCU pin connected to the other H-bridge's input 30 | }; 31 | -------------------------------------------------------------------------------- /src/L293_twoWire.cpp: -------------------------------------------------------------------------------- 1 | #include "L293_twoWire.hpp" 2 | 3 | L293_twoWire :: L293_twoWire( uint8_t _enablePin, uint8_t _directionPin, int16_t _PWMOffset ) 4 | { 5 | enablePin = _enablePin; 6 | directionPin = _directionPin; 7 | 8 | pinMode(enablePin, OUTPUT); 9 | pinMode(directionPin, OUTPUT); 10 | 11 | PWMOffset = _PWMOffset; 12 | } 13 | 14 | void L293_twoWire :: forward( uint8_t _PWMDC ) 15 | { 16 | if( _PWMDC ) RawPWMDC = _PWMDC ; 17 | 18 | this->stop(); 19 | digitalWrite( directionPin, HIGH ); 20 | analogWrite( enablePin, this->getPWMDC() ); 21 | } 22 | 23 | void L293_twoWire :: back( uint8_t _PWMDC ) 24 | { 25 | if( _PWMDC ) RawPWMDC = _PWMDC ; 26 | 27 | this->stop(); 28 | digitalWrite( directionPin, LOW ); 29 | analogWrite(enablePin, this->getPWMDC() ); 30 | } 31 | 32 | bool L293_twoWire :: isForward() const 33 | { 34 | return digitalRead( directionPin ); 35 | } 36 | 37 | bool L293_twoWire :: isReverse() const 38 | { 39 | return !( this->isForward() ) ; 40 | } 41 | 42 | bool L293_twoWire :: isStopped() const 43 | { 44 | return this->getPWMDC() ; 45 | } 46 | -------------------------------------------------------------------------------- /src/L293_twoWire.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "L293_base.hpp" 4 | 5 | /** 6 | * L293_twoWire 7 | * This is a variant of the standard L293 class. 8 | * It's designed to accoplish the same result using only two control wires. 9 | * The hardware abstracted by this class needs to be connected to the MCU using 10 | * an additional interfacing circuit. 11 | */ 12 | 13 | class L293_twoWire : public L293_base 14 | { 15 | public: 16 | 17 | L293_twoWire( uint8_t _enablePin, uint8_t _directionPin, int16_t _PWMOffset = 0 ) ; 18 | 19 | void forward( uint8_t _PWMDC = 0 ) override ; ///< Makes the motor to go forward and optionally sets a new speed value 20 | void back( uint8_t _PWMDC = 0 ) override ; ///< Makes the motor to go reverse and optionally sets a new speed value 21 | bool isForward() const override ; 22 | bool isReverse() const override ; 23 | bool isStopped() const override ; 24 | 25 | private: 26 | 27 | uint8_t directionPin; ///< The MCU pin connected to the circuit's direction control input 28 | 29 | }; 30 | --------------------------------------------------------------------------------