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libraries/A4990MotorShield/A4990MotorShield.h

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+#ifndef A4990MotorShield_h
+#define A4990MotorShield_h
+
+#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) || defined (__AVR_ATmega32U4__)
+  #define A4990MOTORSHIELD_USE_20KHZ_PWM
+#endif
+
+#include <Arduino.h>
+
+class A4990MotorShield 
+{
+  public:
+    static void setM1Speed(int speed);
+    static void setM2Speed(int speed);
+    static void setSpeeds(int m1Speed, int m2Speed);
+    static void flipM1(boolean flip);
+    static void flipM2(boolean flip);
+    static boolean getFault();
+    
+  private:
+    static void initPinsAndMaybeTimer();
+    const static unsigned char _M1DIR;
+    const static unsigned char _M2DIR;
+    const static unsigned char _M1PWM;
+    const static unsigned char _M2PWM;
+    const static unsigned char _FAULT;
+    static boolean _flipM1;
+    static boolean _flipM2;
+    
+    static inline void init()
+    {
+      static boolean initialized = false;
+      if (!initialized)
+      {
+        initialized = true;
+        initPinsAndMaybeTimer();
+      }
+    }
+};
+#endif