#define PWMWRITE analogWrite

class Motor

{

  public:

    // Motor objects require two PWM-capable pins

    Motor(byte driverPin1, byte driverPin2);

    // Run the motor with direction [0..1] and speed [0..255]

    void run(byte direction, byte speed);

    // Stop the motor. If optional brake value is 1 then motor is rapidly halted

    void stop(byte brake);

  private:

    byte mDriverPin1;

    byte mDriverPin2;

};

Motor::Motor(byte driverPin1, byte driverPin2)

:mDriverPin1(driverPin1), mDriverPin2(driverPin2)

{

  // Motor object constructor

  pinMode(mDriverPin1, OUTPUT);

  pinMode(mDriverPin2, OUTPUT);

  PWMWRITE(mDriverPin1, 0);

  PWMWRITE(mDriverPin2, 0);

}

void Motor::run(byte direction, byte speed)

{

  if (direction==0) {

    PWMWRITE(mDriverPin2, 0);

    PWMWRITE(mDriverPin1, speed);

  } else {

    PWMWRITE(mDriverPin1, 0);

    PWMWRITE(mDriverPin2, speed);

  }

}

void Motor::stop(byte brake=0)

{

  if (brake==0) {

    this->run(0,0);

  } else {

    PWMWRITE(mDriverPin1, 255);

    PWMWRITE(mDriverPin2, 255);

  }

}

// *************************************************

// ********** End of Motor Driver Code *************

// *************************************************

// defines

#define FOREVER 1

#define DELAY_MS delay

#define HARD_BRAKE 1

#define MAX_SPEED 255

#define DIR_CW 0

#define DIR_CCW 1

// create Motor objects

Motor mymotor(9,10);

void setup() {

  // put your setup code here, to run once:

  Serial.begin(115200);

}

void loop() {

  // put your main code here, to run repeatedly:

  while(FOREVER) {

    Serial.print("run motor at top speed for 5 sec...\n");

    mymotor.run(DIR_CW, MAX_SPEED);

    DELAY_MS(5000);

    Serial.print("stop motor for 5 sec...\n");

    mymotor.stop();

    DELAY_MS(5000);

    Serial.print("reverse motor at top speed for 5 sec...\n");

    mymotor.run(DIR_CCW, MAX_SPEED);

    DELAY_MS(5000);

    Serial.print("hard brake motor for 5 sec...\n");

    mymotor.stop(HARD_BRAKE);

    DELAY_MS(5000);

    Serial.print("run motor at half speed for 5 sec...\n");

    mymotor.run(DIR_CW, 128);

    DELAY_MS(5000);

  }

}