| 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);} |