class3_hbridge_control_motorSpeed_PWM

/*
This sketch will allow you to control an H-Bridge IC
 Controling an H-Bridge allows you to make a motor switch directions

 In our case, a switch will allow us to switch directions

 Here are a few links about H-Bridges:
 http://itp.nyu.edu/physcomp/Labs/DCMotorControl
 http://en.wikipedia.org/wiki/H_bridge
 */

int enablePin = 9;// turns the h bridge on/off
int motorLogicAPin = 3;
int motorLogicBPin = 4;
int ledPin = 13;
int directionPin = 7;
int potPin = A0;// pin for the potentiometer

int potVal = 0;// 0-1023
int pwmVal = 0;// 0-255

boolean spinForward = true;
boolean hasSwitchBeenReleased = true;

void setup(){
  Serial.begin(9600);

  // set pin modes:
  //outs
  pinMode( enablePin, OUTPUT);
  pinMode( motorLogicAPin, OUTPUT);
  pinMode( motorLogicBPin, OUTPUT);
  pinMode( ledPin, OUTPUT);
  //ins
  pinMode( directionPin, INPUT);

  // set enable pin high
  digitalWrite( enablePin, HIGH);
  // set LED pin low
  digitalWrite( ledPin, LOW);
}

void loop(){

  checkDirectionSwitch();

  motorSpeed();

  driveMotor();

}

void checkDirectionSwitch(){
  // read the directionPin, if it is pressed(HIGH)
  if( digitalRead(directionPin) == HIGH ){
    // then check to see if it has been freshly pressed
    if( hasSwitchBeenReleased == true ){
      // then make note that it has not been freshly pressed
      hasSwitchBeenReleased = false;
      Serial.println("switch has been pressed");
      // and change the motor spinning direction to the opposite
      // of the current spinning direction
      if( spinForward == true ){
        spinForward = false;
      }
      else{
        spinForward = true;
      }
      // signal change in direction by turning on
      // LED for a 10th of a second
      digitalWrite( ledPin, HIGH);
      delay(100);
      digitalWrite( ledPin, LOW);
    }
  }
  else{
    // if the switch is released(LOW)
    // make sure that it will read as being freshly pressed
    // next time it is pressed
    hasSwitchBeenReleased = true;
    if(spinForward == true){
      Serial.println("forward");
    }
    else{
      Serial.println("backward");
    }
  }
}

void motorSpeed(){
  // sets the motor speed based on the potentiometer
  potVal = analogRead(potPin);
  pwmVal = map( potVal, 0, 1023, 0, 255);

  // pwm enable pin using the pwmVal
  analogWrite( enablePin, pwmVal);
}

void driveMotor(){
  if( spinForward == true ){
    // driving one logic pin high and the other low
    // will make the motor spin a direction
    digitalWrite( motorLogicAPin, HIGH);
    digitalWrite( motorLogicBPin, LOW);
  }
  else {
    // flip flop the polarity on the two logic pins to make
    // the motor spin in the opposite direction
    digitalWrite( motorLogicAPin, LOW);
    digitalWrite( motorLogicBPin, HIGH);
  }
}