9bfc73b8 |
1 | /* |
2 | This program is free software: you can redistribute it and/or modify |
3 | it under the terms of the GNU Affero General Public License as |
4 | published by the Free Software Foundation, either version 3 of the |
5 | License, or (at your option) any later version. |
6 | |
7 | This program is distributed in the hope that it will be useful, |
8 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
9 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
10 | GNU Affero General Public License for more details. |
11 | |
12 | You should have received a copy of the GNU Affero General Public License |
13 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
14 | */ |
15 | |
16 | // define which pins are connected to which components |
17 | int right_motor_speed_pin = 3; |
18 | int right_motor_forward_pin = 4; |
19 | int right_motor_backward_pin = 5; |
20 | |
21 | int left_motor_speed_pin = 8; |
22 | int left_motor_forward_pin = 9; |
23 | int left_motor_backward_pin = 10; |
24 | |
25 | void on(int pin){ |
26 | digitalWrite(pin, HIGH);} |
27 | |
28 | void off(int pin){ |
29 | digitalWrite(pin, LOW);} |
30 | |
31 | void setup(){ |
32 | // the arduino will change the voltage on these pins |
33 | // therefore, these pins are OUTPUT pins |
34 | pinMode(right_motor_speed_pin, OUTPUT); |
35 | pinMode(right_motor_forward_pin, OUTPUT); |
36 | pinMode(right_motor_backward_pin, OUTPUT); |
37 | |
38 | pinMode(left_motor_speed_pin, OUTPUT); |
39 | pinMode(left_motor_forward_pin, OUTPUT); |
40 | pinMode(left_motor_backward_pin, OUTPUT);} |
41 | |
42 | void loop(){ |
43 | off(right_motor_backward_pin); |
44 | on(right_motor_forward_pin); |
45 | analogWrite(right_motor_speed_pin, 255); |
46 | |
47 | off(left_motor_backward_pin); |
48 | on(left_motor_forward_pin); |
49 | analogWrite(left_motor_speed_pin, 255);} |