Generic arduino library for controlling brushed DC motor drivers.
Create a MotorController object using one of two constructors based on the type of motor driver you're using:
If your motor driver has an enable pin then use the MotorController(unsigned int forwardsPin, unsigned int backwardsPin, unsigned int enablePin) constructor.
If your motor driver does not have an enable pin then use the MotorController(unsigned int pin1, unsigned int pin2, bool pin1isDirection) constructor. If your motor uses a direction control pin then the third paramater should be true and the pin1 should be the direction pin, otherwise, where your motor has one pin for forward speed and a second pin for reverse speed, the third parameter should be false, pin1 should be the forward pin, and pin2 should be the reverse pin.
Once this object has been created the motor can be controlled through the MotorController.set(double setVal) method.
This method expects a floating point number between -1 and 1 with 1 being full power forwards, -1 being full power backwards, and 0 being off.
Additionally, a software ramp-rate can be set using the MotorController.setRampRate(double rampRate) method. This method expects a positive number representing %/sec, e.g. 1 = 1 second to full power, 0.5 = 2 seconds to full power.
After being set, it must be enabled with the MotorController.enableRampRate() method, and it may be disabled with the MotorController.disableRampRate() method.
Ramp rate is disabled by default, but if it is enabled before a value is set then the default value of 100%/sec is used. The minimum ramp rate is 0.01 and any value below this is ignored.