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DCMotorBot - A simple library to control bots made using 2 simple DC Motors
* Copyright 2012 Sudar Muthu (email :
* ----------------------------------------------------------------------------
* "THE BEER-WARE LICENSE" (Revision 42):
* <> wrote this file. As long as you retain this notice you
* can do whatever you want with this stuff. If we meet some day, and you think
* this stuff is worth it, you can buy me a beer or coffee in return - Sudar
* ----------------------------------------------------------------------------
//TODO: Add speed control using PWM
#ifndef DCMotorBot_H
#define DCMotorBot_H
// Compatibility for Arduino 1.0
#if ARDUINO >= 100
#include "Arduino.h"
#include "WProgram.h"
class DCMotorBot {
// constructor
DCMotorBot(); // empty constructor
DCMotorBot(byte el, byte e2, byte I1, byte I2, byte I3, byte I4, int delay); // full constructor
void setEnablePins(byte el, byte e2);
void setControlPins(byte I1, byte I2, byte I3, byte I4);
void setDelay(int delay);
void setSpeed(int speed);
// movement functions
void start();
void moveForward();
void moveBackward();
void turnLeft();
void turnRight();
void stop();
// movement functions for front steering
void goForward();
void goBackward();
void steerLeft();
void steerRight();
int mDelay; // delay while switching
int mSpeed; // PWM motor speed
// enable pins
byte mE1;
byte mE2;
// Control Pins
byte mI1;
byte mI2;
byte mI3;
byte mI4;