Compiled motorDriver

New motorDriver design...

CVReader.ino

@@ -78,7 +78,13 @@ void setup() {
    while(!DIAGSERIAL);
    
    // Responsibility 2: Start the DCC engine.
-   DCC::begin();
+   // Note: this provides DCC with two motor drivers, main and prog, which handle the motor shield(s)
+   // Standard supported devices have pre-configured macros but custome hardware installations require 
+   //  detailed pin mappings and may also require modified subclasses of the MotorDriver to implement specialist logic.
+     
+   DCC::begin(new MotorDriver(MAIN_POWER_PIN,MAIN_SIGNAL_PIN,MAIN_SIGNAL_PIN_ALT,MAIN_BRAKE_PIN,MAIN_SENSE_PIN,MAIN_SENSE_FACTOR, MAIN_MAX_MILLIAMPS,MAIN_FAULT_PIN),
+              new MotorDriver(PROG_POWER_PIN,PROG_SIGNAL_PIN,PROG_SIGNAL_PIN_ALT,PROG_BRAKE_PIN,PROG_SENSE_PIN,PROG_SENSE_FACTOR, PROG_MAX_MILLIAMPS,PROG_FAULT_PIN));
+   
 
    // Responsibility 3: Optionally Start the WiFi interface if required.
    //   NOTE: On a Uno you will have to provide a SoftwareSerial 

DCC.cpp

@@ -20,7 +20,7 @@
 #include "DCC.h"
 #include "DCCWaveform.h"
 #include "DIAG.h"
-#include "Hardware.h"
+
 
 // This module is responsible for converting API calls into
 // messages to be sent to the waveform generator.
@@ -42,9 +42,9 @@ const byte FN_GROUP_4=0x08;
 const byte FN_GROUP_5=0x10;         
 
 
-void DCC::begin() {
+void DCC::begin(MotorDriver * mainDriver, MotorDriver* progDriver) {
   debugMode=false;
-  DCCWaveform::begin();
+  DCCWaveform::begin(mainDriver,progDriver);
 }
 
 void DCC::setThrottle( uint16_t cab, uint8_t tSpeed, bool tDirection)  {

DCC.h

@@ -20,6 +20,7 @@
 #define DCC_h
 #include <Arduino.h>
 #include "Config.h"
+#include "MotorDriver.h"
 
 typedef void (*ACK_CALLBACK)(int result);
 
@@ -49,7 +50,7 @@ SKIPTARGET=0xFF  // jump to target
 class DCC {
   public:
 
-  static void begin();
+  static void begin(MotorDriver * mainDriver, MotorDriver * progDriver);
   static void loop();
 
   // Public DCC API functions

DCCWaveform.cpp

@@ -17,24 +17,22 @@
  *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
  */
 #include <Arduino.h>
-#include "Hardware.h"
+
 #include "DCCWaveform.h"
 #include "DIAG.h"
+#include "MotorDriver.h"
 #include <ArduinoTimers.h>  // use IDE menu Tools..Manage Libraries to locate and  install TimerOne
 
-
+DCCWaveform  DCCWaveform::mainTrack(PREAMBLE_BITS_MAIN, true);
-DCCWaveform  DCCWaveform::mainTrack=NULL;
+DCCWaveform  DCCWaveform::progTrack(PREAMBLE_BITS_PROG, false);
-DCCWaveform  DCCWaveform::progTrack=NULL;
 
 const int ACK_MIN_PULSE_RAW=65 / PROG_SENSE_FACTOR;
 
 bool DCCWaveform::progTrackSyncMain=false; 
 
-void DCCWaveform::begin(MotorDriver mainDriver, MotorDriver progDriver) {
+void DCCWaveform::begin(MotorDriver * mainDriver, MotorDriver * progDriver) {
- 
+  mainTrack.motorDriver=mainDriver;
-  mainTrack=new DCCWaveform(PREAMBLE_BITS_MAIN, true, mainDriver);
+  progTrack.motorDriver=progDriver;
-  progTrack=new DCCWaveform(PREAMBLE_BITS_PROG, false, progDriver);
-  progTrack.beginTrack(progDriver);
   TimerA.initialize();
   TimerA.setPeriod(58);
   TimerA.attachInterrupt(interruptHandler);
@@ -73,10 +71,8 @@ void DCCWaveform::interruptHandler() {
 const byte bitMask[] = {0x00, 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02, 0x01};
 
 
-DCCWaveform::DCCWaveform( byte preambleBits, bool isMain, MotorDriver driver) {
+DCCWaveform::DCCWaveform( byte preambleBits, bool isMain) {
   // establish appropriate pins
-  motorDriver=driver;
-  rawCurrentTripValue=rawCurrentTrip;
   isMainTrack = isMain;
   packetPending = false;
   memcpy(transmitPacket, idlePacket, sizeof(idlePacket));
@@ -99,7 +95,7 @@ POWERMODE DCCWaveform::getPowerMode() {
 void DCCWaveform::setPowerMode(POWERMODE mode) {
   powerMode = mode;
   bool ison = (mode == POWERMODE::ON);
-  driver.setPower( ison);
+  motorDriver->setPower( ison);
   if (mode == POWERMODE::ON) delay(200);
 }
 
@@ -108,7 +104,7 @@ void DCCWaveform::checkPowerOverload() {
   
   if (millis() - lastSampleTaken  < sampleDelay) return;
   lastSampleTaken = millis();
-  int tripValue= driver.rawCurrentTripValue;
+  int tripValue= motorDriver->rawCurrentTripValue;
   if (!isMainTrack && (ackPending || progTrackSyncMain))   tripValue=ACK_CURRENT_TRIP;
   
   switch (powerMode) {
@@ -117,7 +113,7 @@ void DCCWaveform::checkPowerOverload() {
       break;
     case POWERMODE::ON:
       // Check current
-      lastCurrent = driver.getCurrentRaw();
+      lastCurrent = motorDriver->getCurrentRaw();
       if (lastCurrent <= tripValue) {
         sampleDelay = POWER_SAMPLE_ON_WAIT;
 	if(power_good_counter<100)
@@ -126,8 +122,8 @@ void DCCWaveform::checkPowerOverload() {
 	  if (power_sample_overload_wait>POWER_SAMPLE_OVERLOAD_WAIT) power_sample_overload_wait=POWER_SAMPLE_OVERLOAD_WAIT;
       } else {
         setPowerMode(POWERMODE::OVERLOAD);
-        unsigned int mA=driver.convertRawToMilliamps(lastCurrent);
+        unsigned int mA=motorDriver->convertToMilliamps(lastCurrent);
-        unsigned int maxmA=driver.convertRawToMilliamps(tripValue);
+        unsigned int maxmA=motorDriver->convertToMilliamps(tripValue);
         DIAG(F("\n*** %S TRACK POWER OVERLOAD current=%d max=%d  offtime=%l ***\n"), isMainTrack ? F("MAIN") : F("PROG"), mA, maxmA, power_sample_overload_wait);
 	power_good_counter=0;
         sampleDelay = power_sample_overload_wait;
@@ -187,11 +183,11 @@ void DCCWaveform::setSignal(bool high) {
   if (progTrackSyncMain) {
     if (!isMainTrack) return; // ignore PROG track waveform while in sync
     // set both tracks to same signal
-    driver.setSyncSignal(high);
+    motorDriver->setSignal(high);
-    progTrack.driver.setSignal(high);
+    progTrack.motorDriver->setSignal(high);
     return;     
   }
-  driver.setSignal(high);
+  motorDriver->setSignal(high);
 }
       
 void DCCWaveform::interrupt2() {
@@ -269,8 +265,8 @@ int DCCWaveform::getLastCurrent() {
 
 void DCCWaveform::setAckBaseline(bool debug) {
       if (isMainTrack) return; 
-      ackThreshold=driver.getCurrentRaw() + ACK_MIN_PULSE_RAW;
+      ackThreshold=motorDriver->getCurrentRaw() + ACK_MIN_PULSE_RAW;
-      if (debug) DIAG(F("\nACK-BASELINE %d/%dmA"),ackThreshold,driver.convertRawToMilliamps(ackThreshold));
+      if (debug) DIAG(F("\nACK-BASELINE %d/%dmA"),ackThreshold,motorDriver->convertToMilliamps(ackThreshold));
 }
 
 void DCCWaveform::setAckPending(bool debug) {
@@ -287,7 +283,7 @@ void DCCWaveform::setAckPending(bool debug) {
 byte DCCWaveform::getAck(bool debug) {
       if (ackPending) return (2);  // still waiting
       if (debug) DIAG(F("\nACK-%S after %dmS max=%d/%dmA pulse=%duS"),ackDetected?F("OK"):F("FAIL"), ackCheckDuration, 
-           ackMaxCurrent,Hardware::getCurrentMilliamps(false,ackMaxCurrent), ackPulseDuration);
+           ackMaxCurrent,motorDriver->convertToMilliamps(ackMaxCurrent), ackPulseDuration);
       if (ackDetected) return (1); // Yes we had an ack
       return(0);  // pending set off but not detected means no ACK.   
 }
@@ -301,7 +297,7 @@ void DCCWaveform::checkAck() {
         return; 
     }
       
-    lastCurrent=Hardware::getCurrentRaw(false);
+    lastCurrent=motorDriver->getCurrentRaw();
     if (lastCurrent > ackMaxCurrent) ackMaxCurrent=lastCurrent;
     // An ACK is a pulse lasting between MIN_ACK_PULSE_DURATION and MAX_ACK_PULSE_DURATION uSecs (refer @haba)
         

DCCWaveform.h

@@ -19,6 +19,7 @@
 #ifndef DCCWaveform_h
 #define DCCWaveform_h
 #include "Config.h"
+#include "MotorDriver.h"
 
 const int  POWER_SAMPLE_ON_WAIT = 100;
 const int  POWER_SAMPLE_OFF_WAIT = 1000;
@@ -45,8 +46,8 @@ const byte resetPacket[] = {0x00, 0x00, 0x00};
 
 class DCCWaveform {
   public:
-    DCCWaveform( byte preambleBits, bool isMain, int maxRawCurrent);
+    DCCWaveform( byte preambleBits, bool isMain);
-    static void begin();
+    static void begin(MotorDriver * mainDriver, MotorDriver * progDriver);
     static void loop();
     static DCCWaveform  mainTrack;
     static DCCWaveform  progTrack;
@@ -73,7 +74,7 @@ class DCCWaveform {
     void setSignal(bool high);
     
     bool isMainTrack;
-    
+    MotorDriver*  motorDriver;
     // Transmission controller
     byte transmitPacket[MAX_PACKET_SIZE];  // packet being transmitted
     byte transmitLength;
@@ -95,7 +96,6 @@ class DCCWaveform {
     POWERMODE powerMode;
     unsigned long lastSampleTaken;
     unsigned int sampleDelay;
-    int rawCurrentTripValue;
     static const int ACK_CURRENT_TRIP=1000; // During ACK processing limit can be higher
     unsigned long power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
     unsigned int power_good_counter = 0;

Hardware.cpp

@@ -1,124 +0,0 @@
-/*
- *  © 2020, Chris Harlow. All rights reserved.
- *  
- *  This file is part of Asbelos DCC API
- *
- *  This is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation, either version 3 of the License, or
- *  (at your option) any later version.
- *
- *  It is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
- */
-#include <Arduino.h>
-//#include <TimerOne.h>  // use IDE menu Tools..Manage Libraries to locate and  install TimerOne
-#include <ArduinoTimers.h>  // use IDE menu Tools..Manage Libraries to locate and  install TimerOne
-#include "AnalogReadFast.h"
-#include "Hardware.h"
-#include "Config.h"
-#include "DIAG.h"
-
-
-#if defined(ARDUINO_ARCH_AVR)
-    #include <DIO2.h>  // use IDE menu Tools..Manage Libraries to locate and  install DIO2
-    #define WritePin digitalWrite2
-    #define ReadPin digitalRead2
-#else
-    #define WritePin digitalWrite
-    #define ReadPin digitalRead
-#endif
-    
-void Hardware::init() {
-  pinMode(MAIN_POWER_PIN, OUTPUT);
-  pinMode(MAIN_BRAKE_PIN, OUTPUT);
-  pinMode(MAIN_SIGNAL_PIN, OUTPUT);
-  if (MAIN_SIGNAL_PIN_ALT != UNUSED_PIN) pinMode(MAIN_SIGNAL_PIN_ALT, OUTPUT);
-  pinMode(MAIN_SENSE_PIN, INPUT);
-  if (MAIN_FAULT_PIN != UNUSED_PIN) pinMode(MAIN_FAULT_PIN, INPUT);
-
-  pinMode(PROG_POWER_PIN, OUTPUT);
-  pinMode(PROG_BRAKE_PIN, OUTPUT);
-  pinMode(PROG_SIGNAL_PIN, OUTPUT);
-  if (PROG_SIGNAL_PIN_ALT != UNUSED_PIN) pinMode(PROG_SIGNAL_PIN_ALT, OUTPUT);
-  pinMode(PROG_SENSE_PIN, INPUT);
-  if (PROG_FAULT_PIN != UNUSED_PIN) pinMode(PROG_FAULT_PIN, INPUT);
-}
-
-void Hardware::setPower(bool isMainTrack, bool on) {
-  WritePin(isMainTrack ? MAIN_POWER_PIN : PROG_POWER_PIN, on ? HIGH : LOW);
-}
-void Hardware::setBrake(bool isMainTrack, bool on) {
-  WritePin(isMainTrack ? MAIN_BRAKE_PIN : PROG_BRAKE_PIN, on ? HIGH : LOW);
-}
-
-void Hardware::setSignal(bool isMainTrack, bool high) {
-  byte pin = isMainTrack ? MAIN_SIGNAL_PIN : PROG_SIGNAL_PIN;
-  byte pin2 = isMainTrack ? MAIN_SIGNAL_PIN_ALT : PROG_SIGNAL_PIN_ALT;
-  WritePin(pin, high ? HIGH : LOW);
-  if (pin2 != UNUSED_PIN) WritePin(pin2, high ? LOW : HIGH);
-}
-
-void Hardware::setSyncSignal(bool high) {
-  // This sets the same signal down both tracks at the same time.
-  // Speed notes.... 
-  // Objective is to get the two track signals to change as close as possible
-  // the high ? HIGH:LOW will only be evaluated once
-  // The UNUSED_PIN check will be done at compile time.
-  // If even more speed is required, its possible (not SAMD) to pre-prepare the
-  // DIO pinnumber->pincode translation so the WritePin (digitalWrite2) does not
-  // have to calculate the register and bit numbers every time.
-     
-  WritePin(MAIN_SIGNAL_PIN, high ? HIGH : LOW);
-  WritePin(PROG_SIGNAL_PIN, high ? HIGH : LOW);
-  if (MAIN_SIGNAL_PIN_ALT != UNUSED_PIN) WritePin(MAIN_SIGNAL_PIN_ALT, high ? LOW : HIGH);
-  if (PROG_SIGNAL_PIN_ALT != UNUSED_PIN) WritePin(PROG_SIGNAL_PIN_ALT, high ? LOW : HIGH);
-}
-
-int Hardware::getCurrentRaw(bool isMainTrack) {
-  // tooo much crap for a interrupt routine. Will see how that goes.
-  byte faultpin = isMainTrack ? MAIN_FAULT_PIN : PROG_FAULT_PIN;
-  byte powerpin = isMainTrack ? MAIN_POWER_PIN : PROG_POWER_PIN;
-
-  if (faultpin != UNUSED_PIN && ReadPin(faultpin) == LOW && ReadPin(powerpin) == HIGH)
-      return (int) (32000 / (isMainTrack ? MAIN_SENSE_FACTOR : PROG_SENSE_FACTOR)); // 32A should be enough
-  // IMPORTANT:  This function can be called in Interrupt() time within the 56uS timer
-  //             The default analogRead takes ~100uS which is catastrphic
-  //             so analogReadFast is used here. (-2uS) 
-  return analogReadFast(isMainTrack ? MAIN_SENSE_PIN : PROG_SENSE_PIN);
- 
-}
-
-unsigned int Hardware::getCurrentMilliamps(bool isMainTrack, int raw) {
-  return (unsigned int)(raw * (isMainTrack ? MAIN_SENSE_FACTOR : PROG_SENSE_FACTOR));
-}
-
-void Hardware::setCallback(int duration, void (*isr)()) {
-  TimerA.initialize();
-  TimerA.setPeriod(duration);
-  TimerA.attachInterrupt(isr);
-  TimerA.start();
-}
-
-// shortcut to cpu dependent high speed write 
-void Hardware::pinWrite(int pin, bool high) {
-  WritePin(pin,high);
-}
-
-// Railcom support functions, not yet implemented
-//void Hardware::setSingleCallback(int duration, void (*isr)()) {
-//  Timer2.initialize(duration);
-//  Timer2.disablePwm(TIMER1_A_PIN);
-//  Timer2.disablePwm(TIMER1_B_PIN);
-//  Timer2.attachInterrupt(isr);
-//}
-
-//void Hardware::resetSingleCallback(int duration) {
-//  if (duration==0) Timer2.stop();
-//  else Timer2.initialize(duration);
-//}

Hardware.h

@@ -1,36 +0,0 @@
-/*
- *  © 2020, Chris Harlow. All rights reserved.
- *  
- *  This file is part of Asbelos DCC API
- *
- *  This is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation, either version 3 of the License, or
- *  (at your option) any later version.
- *
- *  It is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
- */
-#ifndef Hardware_h
-#define Hardware_h
-// Virtualised hardware Interface
-class Hardware {
-  public:
-    static void init();
-    static void setPower(bool isMainTrack, bool on);
-    static void setSignal(bool isMainTrack, bool high);
-    static void setSyncSignal( bool high);
-    static unsigned int  getCurrentMilliamps(bool isMainTrack, int rawValue);
-    static int  getCurrentRaw(bool isMainTrack);
-    static void setBrake(bool isMainTrack, bool on);
-    static void setCallback(int duration,  void (*isr)());
-    static void pinWrite(int pin, bool high); // gets better perf and less code than arduino digitalWrite
-//    static void setSingleCallback(int duration,  void (*isr)());
-//    static void resetSingleCallback(int duration);
-};
-#endif

MotorDriver.cpp

@@ -31,7 +31,8 @@
     #define ReadPin digitalRead
 #endif
     
-MotorDriver::MotorDriver(byte power_pin, int signal_pin, int signal_pin2, int brake_pin, int current_pin, float sense_factor, int fault_pin) {
+MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, 
+                         byte current_pin, float sense_factor, unsigned int trip_milliamps, byte fault_pin) {
    powerPin=power_pin;
    signalPin=signal_pin;
    signalPin2=signal_pin2;
@@ -39,8 +40,8 @@ MotorDriver::MotorDriver(byte power_pin, int signal_pin, int signal_pin2, int br
    currentPin=current_pin;
    senseFactor=sense_factor;
    faultPin=fault_pin;
-   I32=(int) (32000 / sensefactor);
+   tripMilliamps=trip_milliamps;
-   
+   rawCurrentTripValue=(int)(trip_milliamps / sense_factor);
   pinMode(powerPin, OUTPUT);
   pinMode(brakePin, OUTPUT);
   pinMode(signalPin, OUTPUT);
@@ -64,14 +65,14 @@ void MotorDriver::setSignal( bool high) {
 
 int MotorDriver::getCurrentRaw() {
   if (faultPin != UNUSED_PIN && ReadPin(faultPin) == LOW && ReadPin(powerPin) == HIGH)
-      return I32:
+      return (int)(32000/senseFactor);
   
   // IMPORTANT:  This function can be called in Interrupt() time within the 56uS timer
   //             The default analogRead takes ~100uS which is catastrphic
   //             so analogReadFast is used here. (-2uS) 
-  return analogReadFast(sensePin);
+  return analogReadFast(currentPin);
 }
 
-unsigned int MortorDriver::convertRawToMilliamps( int raw) {
+unsigned int MotorDriver::convertToMilliamps( int raw) {
   return (unsigned int)(raw * senseFactor);
 }

MotorDriver.h

@@ -19,17 +19,21 @@
 #ifndef MotorDriver_h
 #define MotorDriver_h
 // Virtualised Motor shield 1-track hardware Interface
+
 class MotorDriver {
   public:
-    MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, float senseFactor, byte faultPin);
+    MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, byte brake_pin, byte current_pin, float senseFactor, unsigned int tripMilliamps, byte faultPin);
     void setPower( bool on);
     void setSignal( bool high);
     void setBrake( bool on);
     int  getCurrentRaw();
     unsigned int  convertToMilliamps( int rawValue);
-  private:
+  
-   byte powerPin, signalPin, signalPin2, brakePin,currentPin,faultPin;
+    byte powerPin, signalPin, signalPin2, brakePin,currentPin,faultPin;
    float senseFactor;
+   unsigned int tripMilliamps;
+   int rawCurrentTripValue;
+   const byte UNUSED_PIN = 255;
     
 };
 #endif

Outputs.cpp

@@ -84,10 +84,10 @@ the state of any outputs being monitored or controlled by a separate interface o
 #include "Outputs.h"
 #include "EEStore.h"
 #include "StringFormatter.h"
-#include "Hardware.h"
+
 void  Output::activate(int s){
   data.oStatus=(s>0);                                               // if s>0, set status to active, else inactive
-  Hardware::pinWrite(data.pin,data.oStatus ^ bitRead(data.iFlag,0));      // set state of output pin to HIGH or LOW depending on whether bit zero of iFlag is set to 0 (ACTIVE=HIGH) or 1 (ACTIVE=LOW)
+  digitalWrite(data.pin,data.oStatus ^ bitRead(data.iFlag,0));      // set state of output pin to HIGH or LOW depending on whether bit zero of iFlag is set to 0 (ACTIVE=HIGH) or 1 (ACTIVE=LOW)
   if(num>0)
     EEPROM.put(num,data.oStatus);
  
@@ -146,7 +146,7 @@ void Output::load(){
     EEPROM.get(EEStore::pointer(),data);
     tt=create(data.id,data.pin,data.iFlag);
     tt->data.oStatus=bitRead(tt->data.iFlag,1)?bitRead(tt->data.iFlag,2):data.oStatus;      // restore status to EEPROM value is bit 1 of iFlag=0, otherwise set to value of bit 2 of iFlag
-    Hardware::pinWrite(tt->data.pin,tt->data.oStatus ^ bitRead(tt->data.iFlag,0));
+    digitalWrite(tt->data.pin,tt->data.oStatus ^ bitRead(tt->data.iFlag,0));
     pinMode(tt->data.pin,OUTPUT);
     tt->num=EEStore::pointer();
     EEStore::advance(sizeof(tt->data));
@@ -195,7 +195,7 @@ Output *Output::create(int id, int pin, int iFlag, int v){
 
   if(v==1){
     tt->data.oStatus=bitRead(tt->data.iFlag,1)?bitRead(tt->data.iFlag,2):0;      // sets status to 0 (INACTIVE) is bit 1 of iFlag=0, otherwise set to value of bit 2 of iFlag
-    Hardware::pinWrite(tt->data.pin,tt->data.oStatus ^ bitRead(tt->data.iFlag,0));
+    digitalWrite(tt->data.pin,tt->data.oStatus ^ bitRead(tt->data.iFlag,0));
     pinMode(tt->data.pin,OUTPUT);
   }
 

Sensors.cpp

@@ -69,7 +69,7 @@ decide to ignore the <q ID> return and only react to <Q ID> triggers.
 #include "Sensors.h"
 #include "EEStore.h"
 #include "StringFormatter.h"
-#include "Hardware.h"
+
 
 ///////////////////////////////////////////////////////////////////////////////
 
@@ -114,7 +114,7 @@ Sensor *Sensor::create(int snum, int pin, int pullUp){
   tt->active=false;
   tt->signal=1;
   pinMode(pin,INPUT);         // set mode to input
-  Hardware::pinWrite(pin,pullUp);   // don't use Arduino's internal pull-up resistors for external infrared sensors --- each sensor must have its own 1K external pull-up resistor
+  digitalWrite(pin,pullUp);   // don't use Arduino's internal pull-up resistors for external infrared sensors --- each sensor must have its own 1K external pull-up resistor
 
   return tt;
 

Turnouts.cpp

@@ -19,7 +19,7 @@
 #include "Turnouts.h"
 #include "EEStore.h"
 #include "StringFormatter.h"
-#include "Hardware.h"
+
 #include "PWMServoDriver.h"
 //#include "DIAG.h"             // uncomment if you need DIAG below