Converting RC car to autonomous

Projects General Guidance
1

I have started on a new project, I am playing with a platform that has 4 separate fixed motors (one for each wheel) and want to eventually have something that drives itself around. I figure I should start with just controlling the wheels...

I have just learned some OO C++ and want to put it to use.

I have written a basic Motor (or should that be Wheel?) class but I'm a bit confused regarding encoders. Would the interrupt routine be part of the Motor class?

Here's what I have so far...
Any suggestions for improvements and additions is welcomed.

2

I added the wrong file before, here is the Motor library

#ifndef Motor_h
#define Motor_h


class Motor {
  private:
    int _pin;
    char _speed;
    int _currPos;
    int _lastPos;
    bool _direction;
    
  public:
    Motor();  
    ~Motor();
    
    int getPin();           // returns pin number
    void setPin(int);       // sets pin number
    int getSpeed();         // return an int from 0-1023
    void setSpeed(char);    // values from 0-255
    bool getDirection();    // return 1 for forward, 0 for reverse
    void setDirection(bool);// set Direction (1 = forwards, 0 = reverse)
    int getPosition();
    

    Motor(int pin){  // constructor
      setPin(pin);
      _speed = 0;
      _direction = 1;
    }
     


};    // end Motor class


/*********************************************
 * Implemetation of Class methods here
 **********************************************/

int Motor::getPin() {
      return this->_pin;
    }
void Motor::setPin(int pin){
      _pin = pin;
      pinMode(_pin, OUTPUT);
    }
int Motor::getSpeed() {
      int vel = analogRead(this->_pin);
      return vel;    
      
    } 
void Motor::setSpeed(char speed) { 
      _speed = map(this->getPin(),0,1024, 0, 255); 
       analogWrite(this->_pin, _speed);
    }
bool Motor::getDirection() {
      return this->_direction;
    }
void Motor::setDirection(bool dir) {
      _direction = dir;
    }
int Motor::getPosition() {    
      return this->_currPos;
    }

#endif