Robot Motor Speed Adjustment

/* YourDuino Basic Robot Kit V2 Motor Speed Test
 http://yourduino.com/sunshop2/index.php?l=product_detail&p=400
 
 source: https://arduino-info.wikispaces.com/YourDuino-Basic-Robot-Kit-Software-Version2
 
 - WHAT IT DOES:
 - Runs the robot motors at different speeds. Helps adjust Right-Left offsets
 - SEE the comments after "//" on each line below
 
 This test sketch will run the robot in slow, medium and fast speeds. You should place it on a smooth floor if possible. 
 Carpet, especially thick carpet will slow or stop this robot. If you must run it on some carpet, you may have to change the 
 MoveSpeed values to be higher, like SlowMoveSpeed 300, MediumMoveSpeed 360, FastMovespeed 390. But it will only run really 
 well on a smooth floor.

You can adjust the right VS left motor speeds to try to get the robot to move straight ahead. You can hold the robot in both hands, 
holding the RESET button on the right side of the RoboRED pressed until you put the robot down. Also make sure the caster wheel is 
pointing straight when you start.
 
 
 - CONNECTIONS:
 Pins 9 (Motor1 PWM) and 10 (Motor2 PWM) are predefined, unchangeable

// Label--Arduino Pin-- Motor Driver Pin  
 Motor1A    pin 8           // INA
 Motor1B    pin 7           // INB          
 Motor2C    pin 6           // INC
 Motor2D    pin 5           // IND
 
 - V2.10 11/10/2014
 Questions: terry@yourduino.com */

/*-----( Import needed libraries )-----*/
#include <YD_MotorDriver1.h>  // For control of the two DC Motors

/*-----( Declare Constants and Pin Numbers )-----*/

// NOTE: Pins 9 (Motor1) and 10 (Motor2) are predefined, unchangeable
#define  Motor1A  8  
#define  Motor1B  7
#define  Motor2C  6
#define  Motor2D  5

#define  StartMoveSpeed    200  // Motor Driver value for start of motion

#define  SlowMoveSpeed     280
#define  SlowMoveAdjust     5   // Adjust for straight move: - Left + Right??

#define  MediumMoveSpeed   300
#define  MediumMoveAdjust   5  // Adjust for straight move: - Left + Right

#define  FastMoveSpeed     350
#define  FastMoveAdjust     5  // Adjust for straight move: - Left + Right

/*-----( Declare objects )-----*/
YD_MotorDriver1 RobotDriver(Motor1A,Motor1B,Motor2C,Motor2D); // Set pins


void setup()   /******************* SETUP: RUNS ONCE *****************/
{
  Serial.begin(115200);
  delay(1000);
  Serial.println("YourDuino Robot Kit V2 Motor Speed Test");
  //--NOTE:  Motor Pins set to OUTPUT by their libraries
  RobotDriver.init();
}//--(end setup )---

/************** LOOP: RUNS CONSTANTLY **************************/
void loop()   
{
  Serial.println("Forward Slow Speed");
  ForwardSlow();
  delay(5000);
  Stop();
  Serial.println("---STOP---");  
  delay(5000);
  
  Serial.println("Forward Medium Speed");
  ForwardMedium();
  delay(5000);
  Stop();
  Serial.println("---STOP---");   
  delay(5000);  
   
  Serial.println("Forward Fast Speed");
  ForwardFast();
  delay(5000);
  Stop();
  Serial.println("---STOP---");   
  delay(10000);    
  Serial.println("---END---");   
  
  
}//--(end main loop )---


/*----------------( Declare User-written Functions )---------------*/

//------( MOTOR CONTROL FUNCTIONS )----------------
void ForwardSlow()
{
  RobotDriver.Motor1Speed(SlowMoveSpeed + SlowMoveAdjust);
  RobotDriver.Motor2Speed(SlowMoveSpeed - SlowMoveAdjust); 
}
/*---------------------------*/

void ForwardMedium()
{
  RobotDriver.Motor1Speed(MediumMoveSpeed + MediumMoveAdjust);
  RobotDriver.Motor2Speed(MediumMoveSpeed - MediumMoveAdjust); 
}
/*---------------------------*/
void ForwardFast()
{
  RobotDriver.Motor1Speed(FastMoveSpeed + FastMoveAdjust);
  RobotDriver.Motor2Speed(FastMoveSpeed - FastMoveAdjust); 
}
/*---------------------------*/
void BackwardSlow(int HowMuch)
{
  RobotDriver.Motor1Speed(- SlowMoveSpeed );
  RobotDriver.Motor2Speed(- SlowMoveSpeed ); 
  delay(HowMuch);
  Stop();  
}
/*---------------------------*/
void BackwardMedium(int HowMuch)
{
  RobotDriver.Motor1Speed(- MediumMoveSpeed);
  RobotDriver.Motor2Speed(- MediumMoveSpeed); 
  delay(HowMuch);
  Stop(); 
}
/*---------------------------*/
void BackwardFast(int HowMuch)
{
  RobotDriver.Motor1Speed(- FastMoveSpeed);
  RobotDriver.Motor2Speed(- FastMoveSpeed); 
  delay(HowMuch);
  Stop(); 
}
/*---------------------------*/
void Stop()
{
  RobotDriver.Motor1Speed(0);
  RobotDriver.Motor2Speed(0); 
}
/*---------------------------*/
void SpinLeft(int HowMuch)
{
  RobotDriver.Motor1Speed(MediumMoveSpeed);
  RobotDriver.Motor2Speed(- MediumMoveSpeed);
  delay(HowMuch);
  Stop();
}
/*---------------------------*/
void SpinRight(int HowMuch)
{
  RobotDriver.Motor1Speed(MediumMoveSpeed);
  RobotDriver.Motor2Speed(- MediumMoveSpeed);
  delay(HowMuch);
  Stop(); 
}
/*---------------------------*/


//*********( THE END )***********