For SSIS Robotics Club

roverbase.ino

int pwm_a = 3;   //PWM control for motor outputs 1 and 2 is on digital pin 3
int pwm_b = 11;  //PWM control for motor outputs 3 and 4 is on digital pin 11
int dir_a = 12;  //direction control for motor outputs 1 and 2 is on digital pin 12
int dir_b = 13;  //direction control for motor outputs 3 and 4 is on digital pin 13
int val = 0;
void setup(){
  pinMode(pwm_a, OUTPUT);
  pinMode(pwm_b, OUTPUT);
  pinMode(dir_b, OUTPUT);
  pinMode(dir_a, OUTPUT);
}
void forward() //full speed forward
{ 
  digitalWrite(dir_a, HIGH);  //Reverse motor direction, 1 high, 2 low
  digitalWrite(dir_b, HIGH);  //Reverse motor direction, 3 low, 4 high  
  analogWrite(pwm_a, 255);    //set both motors to run at (100/255 = 39)% duty cycle
  analogWrite(pwm_b, 255);
}

void backward() //full speed backward
{
  digitalWrite(dir_a, LOW);  //Set motor direction, 1 low, 2 high
  digitalWrite(dir_b, LOW);  //Set motor direction, 3 high, 4 low
  analogWrite(pwm_a, 255);   //set both motors to run at 100% duty cycle (fast)
  analogWrite(pwm_b, 255);
}