--- /dev/null
+/*
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU Affero General Public License as
+ published by the Free Software Foundation, either version 3 of the
+ License, or (at your option) any later version.
+
+ This program 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 Affero General Public License for more details.
+
+ You should have received a copy of the GNU Affero General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+// define which pins are connected to which components
+int right_motor_speed_pin = 3;
+int right_motor_forward_pin = 4;
+int right_motor_backward_pin = 5;
+
+int left_motor_speed_pin = 8;
+int left_motor_forward_pin = 9;
+int left_motor_backward_pin = 10;
+
+void on(int pin){
+ digitalWrite(pin, HIGH);}
+
+void off(int pin){
+ digitalWrite(pin, LOW);}
+
+void setup(){
+ // the arduino will change the voltage on these pins
+ // therefore, these pins are OUTPUT pins
+ pinMode(right_motor_speed_pin, OUTPUT);
+ pinMode(right_motor_forward_pin, OUTPUT);
+ pinMode(right_motor_backward_pin, OUTPUT);
+
+ pinMode(left_motor_speed_pin, OUTPUT);
+ pinMode(left_motor_forward_pin, OUTPUT);
+ pinMode(left_motor_backward_pin, OUTPUT);}
+
+void loop(){
+ off(right_motor_backward_pin);
+ on(right_motor_forward_pin);
+ analogWrite(right_motor_speed_pin, 255);
+
+ off(left_motor_backward_pin);
+ on(left_motor_forward_pin);
+ analogWrite(left_motor_speed_pin, 255);}