#include <HBridge.h>

HBridge::HBridge(int pin, int dir_pin) : DriveMaster(pin, dir_pin) {}

void

HBridge::begin()

{

pinMode(_pin, OUTPUT);

pinMode(_dir_pin, OUTPUT);

}

void

HBridge::write(int16_t value)

{

value = constrain(value, -255, 255);

digitalWrite(_dir_pin, (value > 0) ? LOW : HIGH);

value = (value > 0) ? value : 255 + value;

analogWrite(_pin, value);

}