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arduino-cli/libraries/QDPDCMOTOR/QDPDCMOTOR.cpp

@@ -0,0 +1,94 @@
+#include "QDPDCMOTOR.h"
+QDPDCMOTOR::QDPDCMOTOR(uint8_t port)
+{
+  if (port == 1) {
+    Mport1 = 7;
+    Mport2 = 6;
+    Iport = 3;
+    pinMode(7, OUTPUT);
+    pinMode(6, OUTPUT);
+    pinMode(3, INPUT);
+  } else {
+    Mport1 = 4;
+    Mport2 = 5;
+    Iport = 2;
+    pinMode(4, OUTPUT);
+    pinMode(5, OUTPUT);
+    pinMode(2, INPUT);
+  }
+
+}
+void QDPDCMOTOR::run(int speed)
+{
+  speed = speed > 255 ? 255 : speed;
+  speed = speed < -255 ? -255 : speed;
+
+  if (speed >= 0)
+  {
+    digitalWrite(Mport1, HIGH);
+    analogWrite(Mport2, abs(speed));
+  }
+  else
+  {
+    digitalWrite(Mport1, LOW);
+    analogWrite(Mport2, abs(speed));
+  }
+  
+}
+void QDPDCMOTOR::stop()
+{
+  digitalWrite(Mport1, LOW);
+  analogWrite(Mport2, 0);
+  flag1 = 0;
+}
+void QDPDCMOTOR::PulseINI(long pulsenum, int speed, long _lowpulse, int _lowspeed) {
+  setcount = pulsenum;
+  count = 0;
+  setspeed = speed;
+  lowpulse = _lowpulse;
+  lowspeed = _lowspeed;
+  flag = 1;
+  flag1 = 1;
+}
+void QDPDCMOTOR::PulseRun(uint8_t num) {
+  run(setspeed);
+  if(num)
+    DcMotorfinish();
+   
+}
+void QDPDCMOTOR::DcMotorCount1() {
+ count++;
+  if (flag == 1 & setcount - count < lowpulse ) {
+    analogWrite(Mport2, abs(lowspeed));
+    flag = 0;
+  }
+  if (count >= setcount) {
+    //flag1 = 0;
+    detachInterrupt(digitalPinToInterrupt(3));
+    stop();
+    
+  }
+};
+
+void QDPDCMOTOR::DcMotorCount2() {
+
+  count++;
+  if (flag == 1 & setcount - count < lowpulse ) {
+    analogWrite(Mport2, abs(lowspeed));
+    flag = 0;
+  }
+  if (count >= setcount) {
+    //flag1 = 0;
+    detachInterrupt(digitalPinToInterrupt(2));
+    stop();
+    
+  }
+};
+
+void QDPDCMOTOR::DcMotorfinish() {
+  while(flag1){
+    delay(1);
+//Serial.println(flag1);
+
+  }
+}

arduino-cli/libraries/QDPDCMOTOR/QDPDCMOTOR.h

@@ -0,0 +1,27 @@
+#include "arduino.h"
+
+
+
+#ifndef QDPDCMOTOR_cpp
+#define QDPDCMOTOR_cpp
+
+class QDPDCMOTOR {
+  public:
+    QDPDCMOTOR(uint8_t port);
+    void run(int speed);
+    void stop();
+    void PulseINI(long pulsenum, int speed,long _lowpulse,int _lowspeed);
+    void DcMotorCount1();
+    void DcMotorCount2();
+    void PulseRun(uint8_t num);
+    void DcMotorfinish();
+    bool flag,flag1;
+  private:
+    uint8_t Mport1, Mport2, Iport;
+    int setspeed;
+    long count, setcount, lowpulse;
+    int lowspeed;
+   
+};
+
+#endif