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.
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.
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/>.
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;
21 int left_motor_speed_pin
= 8;
22 int left_motor_forward_pin
= 9;
23 int left_motor_backward_pin
= 10;
26 // the arduino will change the voltage on these pins
27 // therefore, these pins are OUTPUT pins
28 pinMode(left_motor_speed_pin
, OUTPUT
);
29 pinMode(left_motor_forward_pin
, OUTPUT
);
30 pinMode(left_motor_backward_pin
, OUTPUT
);
32 pinMode(right_motor_speed_pin
, OUTPUT
);
33 pinMode(right_motor_forward_pin
, OUTPUT
);
34 pinMode(right_motor_backward_pin
, OUTPUT
);}
37 digitalWrite(left_motor_backward_pin
, LOW
);
38 digitalWrite(left_motor_forward_pin
, HIGH
);
39 analogWrite(left_motor_speed_pin
, 128);
41 digitalWrite(right_motor_backward_pin
, LOW
);
42 digitalWrite(right_motor_forward_pin
, HIGH
);
43 analogWrite(right_motor_speed_pin
, 128);}