esp32-car/include/motor.h

#ifndef MOTOR_H
#define MOTOR_H

#include <Arduino.h>

struct MotorPin
{
  int pwm;
  int in1;
  int in2;
};

// 电机状态结构体
struct MotorStatus
{
  MotorPin pin;
  bool in1;
  bool in2;
  unsigned char pwm;
};

typedef enum {
  ROTATE_CLOCKWISE = 1,
  ROTATE_ANTICLOCKWISE = -1,
} RotateDirection;

class MotorController
{
public:
  static void init(MotorPin aPin, MotorPin bPin, MotorPin cPin, MotorPin dPin);
  static void pwmControl(char motor, unsigned char pwm);
  static void motorControl(char motor, int speed);
  static void motorXYRControl(int8_t x, int8_t y, int8_t r);
  static void rotate(RotateDirection direction, uint8_t speed);

  // 获取电机状态
  static MotorStatus getMotorStatus(char motor);

private:
  static MotorStatus motorA;
  static MotorStatus motorB;
  static MotorStatus motorC;
  static MotorStatus motorD;
};

#endif