New Motor Version

src/I2CMotor.cpp

@@ -50,12 +50,18 @@ void I2CMotor::setMotorSpeed(uint8_t motor, uint8_t speed_percent) {
     Wire.endTransmission();
 }
 
-void I2CMotor::emergencyStop() {
+// Renamed from emergencyStop
+void I2CMotor::allStop() {
     Wire.beginTransmission(slave_addr_);
     Wire.write(0x05);
     Wire.endTransmission();
 }
 
+// New: Set address at runtime
+void I2CMotor::setAddress(uint8_t addr) {
+    slave_addr_ = addr;
+}
+
 uint8_t I2CMotor::scanForMotorController() {
     for (uint8_t addr = 1; addr < 127; addr++) {
         Wire.beginTransmission(addr);
@@ -100,4 +106,30 @@ String I2CMotor::queryIdentification(uint8_t addr) {
     Serial.println(response);
     return response;
 }
-    
+
+// --- New functions for L298N motor control ---
+
+bool I2CMotor::motorControl(uint8_t motor, uint8_t speed_percent, uint8_t direction) {
+    if (!found()) return false;
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x10); // CMD_MOTOR_CTRL
+    Wire.write(motor);
+    Wire.write(speed_percent);
+    Wire.write(direction);
+    return Wire.endTransmission() == 0;
+}
+
+bool I2CMotor::bothMotorsControl(uint8_t speedA, uint8_t dirA, uint8_t speedB, uint8_t dirB) {
+    if (!found()) return false;
+    Wire.beginTransmission(slave_addr_);
+    Wire.write(0x11); // CMD_BOTH_CTRL
+    Wire.write(speedA);
+    Wire.write(dirA);
+    Wire.write(speedB);
+    Wire.write(dirB);
+    return Wire.endTransmission() == 0;
+}
+
+void I2CMotor::stopAllMotors() {
+    bothMotorsControl(0, 0, 0, 0);
+}

src/I2CMotor.h

@@ -16,7 +16,15 @@ public:
     void setMinMax(uint8_t min_pwm, uint8_t max_pwm);
     void setMotorDirection(uint8_t motor, uint8_t dir);
     void setMotorSpeed(uint8_t motor, uint8_t speed_percent);
-    void emergencyStop();
+    void allStop(); // Renamed from emergencyStop
+
+    // New: Set address at runtime
+    void setAddress(uint8_t addr);
+
+    // --- New functions for L298N motor control ---
+    bool motorControl(uint8_t motor, uint8_t speed_percent, uint8_t direction);
+    bool bothMotorsControl(uint8_t speedA, uint8_t dirA, uint8_t speedB, uint8_t dirB);
+    void stopAllMotors();
 
 private:
     uint8_t sda_, scl_;