如何使用C++语言开发嵌入式系统的电机控制与驱动功能

#include <iostream>
#include <wiringPi.h>

class Motor {
public:
    Motor(int pin1, int pin2, int pwm);

    void setSpeed(int speed);
    void forward();
    void backward();
    void stop();

private:
    int pin1, pin2, pwm;

    void digitalWrite(int pin, int value);
};

Motor::Motor(int pin1, int pin2, int pwm) {
    this->pin1 = pin1;
    this->pin2 = pin2;
    this->pwm = pwm;

    wiringPiSetup();

    pinMode(pin1, OUTPUT);
    pinMode(pin2, OUTPUT);
    pinMode(pwm, OUTPUT);
}

void Motor::setSpeed(int speed) {
    softPwmWrite(pwm, speed);
}

void Motor::forward() {
    digitalWrite(pin1, HIGH);
    digitalWrite(pin2, LOW);
}

void Motor::backward() {
    digitalWrite(pin1, LOW);
    digitalWrite(pin2, HIGH);
}

void Motor::stop() {
    digitalWrite(pin1, LOW);
    digitalWrite(pin2, LOW);
}

void Motor::digitalWrite(int pin, int value) {
    if (value == HIGH) {
        digitalWrite(pin, HIGH);
        delay(10);
        digitalWrite(pin, LOW);
    } else if (value == LOW) {
        digitalWrite(pin, LOW);
        delay(10);
        digitalWrite(pin, HIGH);
    }
}

int main() {
    Motor motor(0, 1, 2);

    motor.setSpeed(200);
    motor.forward();
    delay(2000);
    motor.stop();

    return 0;
}