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src/motor_driver.cpp

@@ -0,0 +1,49 @@
+#include "motor_driver.h"
+
+#include <avr/io.h>
+
+
+MotorDriver::MotorDriver()
+{
+}
+
+
+void MotorDriver::begin()
+{
+    // Arduino D3  = PD3 = AIN1
+    // Arduino D11 = PB3 = AIN2
+
+    DDRD |= (1 << DDD3);
+    DDRB |= (1 << DDB3);
+
+    stop();
+}
+
+
+void MotorDriver::forward()
+{
+    // AIN1 / D3  = HIGH
+    // AIN2 / D11 = LOW
+
+    PORTD |= (1 << PORTD3);
+    PORTB &= ~(1 << PORTB3);
+}
+
+
+void MotorDriver::reverse()
+{
+    // AIN1 / D3  = LOW
+    // AIN2 / D11 = HIGH
+
+    PORTD &= ~(1 << PORTD3);
+    PORTB |= (1 << PORTB3);
+}
+
+
+void MotorDriver::stop()
+{
+    // Both LOW
+
+    PORTD &= ~(1 << PORTD3);
+    PORTB &= ~(1 << PORTB3);
+}