From b5a53b41ada10c9c5389f67b5bd60e3f7c7fa96c Mon Sep 17 00:00:00 2001
From: Shashank Agarwal <48916902+Witty-Wizard@users.noreply.github.com>
Date: Thu, 10 Oct 2024 23:41:35 +0530
Subject: [PATCH] Enhancement: Fixed a Bug

- handled the case where value is greater than 255
- added doc strings for documentation
---
 src/HBridge.cpp | 13 +++----------
 src/HBridge.h   | 45 +++++++++++++++++++++++++++++++++++++--------
 2 files changed, 40 insertions(+), 18 deletions(-)

diff --git a/src/HBridge.cpp b/src/HBridge.cpp
index dcf7eeb..fb343b5 100644
--- a/src/HBridge.cpp
+++ b/src/HBridge.cpp
@@ -12,15 +12,8 @@ void HBridge::begin()
 
 void HBridge::write(int16_t value)
 {
-    value = value % 256;
-    if (value >= 0)
-    {
-        digitalWrite(_dir_pin, LOW);
-    }
-    else
-    {
-        digitalWrite(_dir_pin, HIGH);
-        value = 255 + value;
-    }
+    value = constrain(value, -255, 255);
+    digitalWrite(_dir_pin, (value > 0) ? LOW : HIGH);
+    value = (value > 0) ? value : 255 + value;
     analogWrite(_pin, value);
 }
\ No newline at end of file
diff --git a/src/HBridge.h b/src/HBridge.h
index ddeb029..4d970b1 100644
--- a/src/HBridge.h
+++ b/src/HBridge.h
@@ -1,6 +1,6 @@
 /**
  * @file HBridge.h
- * @brief Header file for the HBridge class.
+ * @brief Header file for the HBridge class, which controls an H-Bridge motor driver.
  */
 
 #pragma once
@@ -9,13 +9,42 @@
 
 #include "DriveMaster.h"
 
-class HBridge : public DriveMaster{
-    private:
-
+/**
+ * @class HBridge
+ * @brief A class to control an H-Bridge motor driver.
+ * 
+ * The HBridge class provides methods to initialize and control the speed and direction
+ * of a motor using an H-Bridge. It inherits from the DriveMaster base class, which
+ * provides the control pins.
+ */
+class HBridge : public DriveMaster {
     public:
-    explicit HBridge(int pin, int dir_pin);
-    void begin() override;
-    void write(int16_t value) override;
+        /**
+         * @brief Constructs an HBridge object with specified control pins.
+         * 
+         * @param pin The PWM pin used for controlling motor speed (inherited from DriveMaster).
+         * @param dir_pin The direction control pin (inherited from DriveMaster).
+         */
+        explicit HBridge(int pin, int dir_pin);
+
+        /**
+         * @brief Initializes the H-Bridge driver.
+         * 
+         * Sets up the necessary pin modes for motor control.
+         */
+        void begin() override;
+
+        /**
+         * @brief Writes a speed value to the motor.
+         * 
+         * The value controls both the speed and direction of the motor.
+         * Positive values set forward direction, while negative values set reverse direction.
+         * The value is constrained between -255 and 255.
+         * 
+         * @param value The speed value to write, where 0 is stopped, 255 is full forward,
+         *              and -255 is full reverse.
+         */
+        void write(int16_t value) override;
 };
 
-#endif
\ No newline at end of file
+#endif // HBRIDGE_H