darkwave/Box.ino

## Box.ino
#include <Bridge.h>
#include <HttpClient.h>
int lightValue;
int photoResistorPin = A0; //analog input 0

void setup() {
  // Bridge takes about two seconds to start up
  // it can be helpful to use the on-board LED
  // as an indicator for when it has initialized
  pinMode(13, OUTPUT);
  digitalWrite(13, LOW);
  Bridge.begin();
  digitalWrite(13, HIGH);

  Serial.begin(9600);


  //while (!Serial); // wait for a serial connection
}

void loop() {
  lightValue = analogRead(photoResistorPin);

  lightValue = map(lightValue, 0, 1023, 0, 100);
  Serial.print(lightValue);
  Serial.println("%");
  if (lightValue > 50) {
    HttpClient chrome;
    chrome.get("http://192.168.240.1/arduino/digital/5/1");
  } else {
    HttpClient chrome;
    chrome.get("http://192.168.240.1/arduino/digital/5/0");
  }
  delay(500);
}


## Lamp.ino
/*
  Arduino Yún Bridge example

  This example for the Arduino Yún shows how to use the
  Bridge library to access the digital and analog pins
  on the board through REST calls. It demonstrates how
  you can create your own API when using REST style
  calls through the browser.

  Possible commands created in this shetch:

  "/arduino/digital/13"     -> digitalRead(13)
  "/arduino/digital/13/1"   -> digitalWrite(13, HIGH)
  "/arduino/analog/2/123"   -> analogWrite(2, 123)
  "/arduino/analog/2"       -> analogRead(2)
  "/arduino/mode/13/input"  -> pinMode(13, INPUT)
  "/arduino/mode/13/output" -> pinMode(13, OUTPUT)

  This example code is part of the public domain

  http://www.arduino.cc/en/Tutorial/Bridge

*/

#include <Bridge.h>
#include <BridgeServer.h>
#include <BridgeClient.h>

// Listen to the default port 5555, the Yún webserver
// will forward there all the HTTP requests you send
BridgeServer server;

void setup() {
  // Bridge startup
  pinMode(13, OUTPUT);

  pinMode(8, OUTPUT); //this is for the relay
  digitalWrite(13, LOW);
  Bridge.begin();
  digitalWrite(13, HIGH);

  // Listen for incoming connection only from localhost
  // (no one from the external network could connect)
  server.listenOnLocalhost();
  server.begin();
}

void loop() {
  // Get clients coming from server
  BridgeClient client = server.accept();

  // There is a new client?
  if (client) {
    // Process request
    process(client);

    // Close connection and free resources.
    client.stop();
  }

  delay(50); // Poll every 50ms
}

void process(BridgeClient client) {
  // read the command
  String command = client.readStringUntil('/');

  // is "digital" command?
  if (command == "digital") {
    digitalCommand(client);
  }

  // is "analog" command?
  if (command == "analog") {
    analogCommand(client);
  }

  // is "mode" command?
  if (command == "mode") {
    modeCommand(client);
  }
}

void digitalCommand(BridgeClient client) {
  int pin, value;

  // Read pin number
  pin = client.parseInt();

  // If the next character is a '/' it means we have an URL
  // with a value like: "/digital/13/1"
  if (client.read() == '/') {
    value = client.parseInt();
    digitalWrite(pin, value);
  } else {
    value = digitalRead(pin);
  }

  // Send feedback to client
  client.print(F("Pin D"));
  client.print(pin);
  client.print(F(" set to "));
  client.println(value);

  // Update datastore key with the current pin value
  String key = "D";
  key += pin;
  Bridge.put(key, String(value));
}

void analogCommand(BridgeClient client) {
  int pin, value;

  // Read pin number
  pin = client.parseInt();

  // If the next character is a '/' it means we have an URL
  // with a value like: "/analog/5/120"
  if (client.read() == '/') {
    // Read value and execute command
    value = client.parseInt();
    analogWrite(pin, value);

    // Send feedback to client
    client.print(F("Pin D"));
    client.print(pin);
    client.print(F(" set to analog "));
    client.println(value);

    // Update datastore key with the current pin value
    String key = "D";
    key += pin;
    Bridge.put(key, String(value));
  } else {
    // Read analog pin
    value = analogRead(pin);

    // Send feedback to client
    client.print(F("Pin A"));
    client.print(pin);
    client.print(F(" reads analog "));
    client.println(value);

    // Update datastore key with the current pin value
    String key = "A";
    key += pin;
    Bridge.put(key, String(value));
  }
}

void modeCommand(BridgeClient client) {
  int pin;

  // Read pin number
  pin = client.parseInt();

  // If the next character is not a '/' we have a malformed URL
  if (client.read() != '/') {
    client.println(F("error"));
    return;
  }

  String mode = client.readStringUntil('\r');

  if (mode == "input") {
    pinMode(pin, INPUT);
    // Send feedback to client
    client.print(F("Pin D"));
    client.print(pin);
    client.print(F(" configured as INPUT!"));
    return;
  }

  if (mode == "output") {
    pinMode(pin, OUTPUT);
    // Send feedback to client
    client.print(F("Pin D"));
    client.print(pin);
    client.print(F(" configured as OUTPUT!"));
    return;
  }

  client.print(F("error: invalid mode "));
  client.print(mode);
}


## Robot.ino
int MOTOR_A = 0;
int MOTOR_B = 1;
int MOTOR_A_AND_B = 2;


#include <Bridge.h>
#include <BridgeServer.h>
#include <BridgeClient.h>

#include <HttpClient.h>

// Listen to the default port 5555, the Yún webserver
// will forward there all the HTTP requests you send
BridgeServer server;

void setup() {
  // Bridge startup
  Bridge.begin();


  //Setup Channel A
  pinMode(12, OUTPUT); //Initiates Motor Channel A pin
  pinMode(9, OUTPUT); //Initiates Brake Channel A pin

  //Setup Channel B
  pinMode(13, OUTPUT); //Initiates Motor Channel A pin
  pinMode(8, OUTPUT);  //Initiates Brake Channel A pin


  pinMode(6, OUTPUT);
  pinMode(5, OUTPUT);

  digitalWrite(6, LOW);
  digitalWrite(5, LOW);

  // Listen for incoming connection only from localhost
  // (no one from the external network could connect)
  server.listenOnLocalhost();
  server.begin();
}

void soundOnFire() {
  int fireValue = analogRead(A2);
    int fireRange = map(fireValue, 0, 1024, 0, 3);

    switch(fireRange) {
      case 0:
       tone(10,1000, 20);
       tone(10,4500, 20);
        break;
      case 1:
       tone(10,3000, 20);
       tone(10,2500, 20);
        break;

      case 2:

        break;


      }

  }

void loop() {
  soundOnFire();


  // Get clients coming from server
  BridgeClient client = server.accept();

  // There is a new client?
  if (client) {
    // Process request
    process(client);

    // Close connection and free resources.
    client.stop();
  }

  delay(50); // Poll every 50ms
}

void process(BridgeClient client) {
  // read the command
  String command = client.readStringUntil('/');

  // is "digital" command?
  if (command == "digital") {
    digitalCommand(client);
  }

  // is "analog" command?
  if (command == "analog") {
    analogCommand(client);
  }

  // is "mode" command?
  if (command == "mode") {
    modeCommand(client);
  }

  if (command == "left") {
    turnLeft();
  }


  if (command == "right") {
    turnRight();

  }


  if (command == "go") {
    goForward(255);

  }


  if (command == "stop") {
    breakMotor(MOTOR_A_AND_B);

  }

  if (command == "lamp_on") {
    HttpClient lampClient;

    // Make a HTTP request:
    lampClient.get("http://192.168.240.186/arduino/digital/8/1");

  }


  if (command == "lamp_off") {
    HttpClient lampClient;

    // Make a HTTP request:
    lampClient.get("http://192.168.240.186/arduino/digital/8/0");
  }

  if (command == "fire") {
    int fireValue = analogRead(A2);
    int fireRange = map(fireValue, 0, 1024, 0, 3);

        client.print(fireValue);
        client.print(" ");
    switch(fireRange) {
      case 0:
        client.println("Closed fire");
        break;
      case 1:
        client.println("Distant fire");

        break;

      case 2:

        client.println("No fire");
        break;


      }


    }

}

void digitalCommand(BridgeClient client) {
  int pin, value;

  // Read pin number
  pin = client.parseInt();

  // If the next character is a '/' it means we have an URL
  // with a value like: "/digital/13/1"
  if (client.read() == '/') {
    value = client.parseInt();
    digitalWrite(pin, value);
  } else {
    value = digitalRead(pin);
  }

  // Send feedback to client
  client.print(F("Pin D"));
  client.print(pin);
  client.print(F(" set to "));
  client.println(value);

  // Update datastore key with the current pin value
  String key = "D";
  key += pin;
  //Bridge.put(key, String(value));
}

void analogCommand(BridgeClient client) {
  int pin, value;

  // Read pin number
  pin = client.parseInt();

  // If the next character is a '/' it means we have an URL
  // with a value like: "/analog/5/120"
  if (client.read() == '/') {
    // Read value and execute command
    value = client.parseInt();
    analogWrite(pin, value);

    // Send feedback to client
    client.print(F("Pin D"));
    client.print(pin);
    client.print(F(" set to analog "));
    client.println(value);

    // Update datastore key with the current pin value
    String key = "D";
    key += pin;
    Bridge.put(key, String(value));
  } else {
    // Read analog pin
    value = analogRead(pin);

    // Send feedback to client
    client.print(F("Pin A"));
    client.print(pin);
    client.print(F(" reads analog "));
    client.println(value);

    // Update datastore key with the current pin value
    String key = "A";
    key += pin;
    //Bridge.put(key, String(value));
  }
}

void modeCommand(BridgeClient client) {
  int pin;

  // Read pin number
  pin = client.parseInt();

  // If the next character is not a '/' we have a malformed URL
  if (client.read() != '/') {
    client.println(F("error"));
    return;
  }

  String mode = client.readStringUntil('\r');

  if (mode == "input") {
    pinMode(pin, INPUT);
    // Send feedback to client
    client.print(F("Pin D"));
    client.print(pin);
    client.print(F(" configured as INPUT!"));
    return;
  }

  if (mode == "output") {
    pinMode(pin, OUTPUT);
    // Send feedback to client
    client.print(F("Pin D"));
    client.print(pin);
    client.print(F(" configured as OUTPUT!"));
    return;
  }

  client.print(F("error: invalid mode "));
  client.print(mode);
}


int MOTOR_FORWARD = HIGH;
int MOTOR_BACKWARD = LOW;

void go(int motorNumber, int motorSpeed, int motorDirection) {
  if (motorNumber == MOTOR_A) {
    //Motor A forward @ motorSpeed
    digitalWrite(12, motorDirection); //Establishes forward direction of Channel A
    digitalWrite(9, LOW);   //Disengage the Brake for Channel A
    analogWrite(3, motorSpeed);   //Spins the motor on Channel A at motorSpeed
  } else if (motorNumber == MOTOR_B) {
    //Motor B forward @ motorSpeed
    digitalWrite(13, motorDirection); //Establishes forward direction of Channel B
    digitalWrite(8, LOW);   //Disengage the Brake for Channel B
    analogWrite(11, motorSpeed);   //Spins the motor on Channel A at motorSpeed

  } else if (motorNumber == MOTOR_A_AND_B) {
    digitalWrite(12, motorDirection); //Establishes forward direction of Channel A
    digitalWrite(9, LOW);   //Disengage the Brake for Channel A
    analogWrite(3, motorSpeed);   //Spins the motor on Channel A at motorSpeed

    //Motor B forward @ motorSpeed
    digitalWrite(13, motorDirection); //Establishes forward direction of Channel B
    digitalWrite(8, LOW);   //Disengage the Brake for Channel B
    analogWrite(11, motorSpeed);   //Spins the motor on Channel A at motorSpeed
  }
}

void goForward(int motorSpeed) {
  go(MOTOR_B, 255, MOTOR_FORWARD);
  go(MOTOR_A, 255, MOTOR_BACKWARD);
}


void goBackward(int motorSpeed) {
  go(MOTOR_B, 255, MOTOR_BACKWARD);
  go(MOTOR_A, 255, MOTOR_FORWARD);
}

void turnLeft() {
  go(MOTOR_B, 255, MOTOR_BACKWARD);
  go(MOTOR_A, 255, MOTOR_BACKWARD);
}


void turnRight() {
  go(MOTOR_B, 255, MOTOR_FORWARD);
  go(MOTOR_A, 255, MOTOR_FORWARD);
}

void breakMotor(int motorNumber) {
  if (motorNumber == MOTOR_A) {
    digitalWrite(9, HIGH);   //Engage the Brake for Channel A
  } else if (motorNumber == MOTOR_B) {
    digitalWrite(8, HIGH);   //Engage the Brake for Channel B

  } else if (motorNumber == MOTOR_A_AND_B) {
    digitalWrite(9, HIGH);   //Engage the Brake for Channel A
    digitalWrite(8, HIGH);   //Engage the Brake for Channel B
  }
}
	#include <Bridge.h>
	#include <HttpClient.h>
	int lightValue;
	int photoResistorPin = A0; //analog input 0

	void setup() {
	// Bridge takes about two seconds to start up
	// it can be helpful to use the on-board LED
	// as an indicator for when it has initialized
	pinMode(13, OUTPUT);
	digitalWrite(13, LOW);
	Bridge.begin();
	digitalWrite(13, HIGH);

	Serial.begin(9600);


	//while (!Serial); // wait for a serial connection
	}

	void loop() {
	lightValue = analogRead(photoResistorPin);

	lightValue = map(lightValue, 0, 1023, 0, 100);
	Serial.print(lightValue);
	Serial.println("%");
	if (lightValue > 50) {
	HttpClient chrome;
	chrome.get("http://192.168.240.1/arduino/digital/5/1");
	} else {
	HttpClient chrome;
	chrome.get("http://192.168.240.1/arduino/digital/5/0");
	}
	delay(500);
	}
	/*
	Arduino Yún Bridge example

	This example for the Arduino Yún shows how to use the
	Bridge library to access the digital and analog pins
	on the board through REST calls. It demonstrates how
	you can create your own API when using REST style
	calls through the browser.

	Possible commands created in this shetch:

	"/arduino/digital/13" -> digitalRead(13)
	"/arduino/digital/13/1" -> digitalWrite(13, HIGH)
	"/arduino/analog/2/123" -> analogWrite(2, 123)
	"/arduino/analog/2" -> analogRead(2)
	"/arduino/mode/13/input" -> pinMode(13, INPUT)
	"/arduino/mode/13/output" -> pinMode(13, OUTPUT)

	This example code is part of the public domain

	http://www.arduino.cc/en/Tutorial/Bridge

	*/

	#include <Bridge.h>
	#include <BridgeServer.h>
	#include <BridgeClient.h>

	// Listen to the default port 5555, the Yún webserver
	// will forward there all the HTTP requests you send
	BridgeServer server;

	void setup() {
	// Bridge startup
	pinMode(13, OUTPUT);

	pinMode(8, OUTPUT); //this is for the relay
	digitalWrite(13, LOW);
	Bridge.begin();
	digitalWrite(13, HIGH);

	// Listen for incoming connection only from localhost
	// (no one from the external network could connect)
	server.listenOnLocalhost();
	server.begin();
	}

	void loop() {
	// Get clients coming from server
	BridgeClient client = server.accept();

	// There is a new client?
	if (client) {
	// Process request
	process(client);

	// Close connection and free resources.
	client.stop();
	}

	delay(50); // Poll every 50ms
	}

	void process(BridgeClient client) {
	// read the command
	String command = client.readStringUntil('/');

	// is "digital" command?
	if (command == "digital") {
	digitalCommand(client);
	}

	// is "analog" command?
	if (command == "analog") {
	analogCommand(client);
	}

	// is "mode" command?
	if (command == "mode") {
	modeCommand(client);
	}
	}

	void digitalCommand(BridgeClient client) {
	int pin, value;

	// Read pin number
	pin = client.parseInt();

	// If the next character is a '/' it means we have an URL
	// with a value like: "/digital/13/1"
	if (client.read() == '/') {
	value = client.parseInt();
	digitalWrite(pin, value);
	} else {
	value = digitalRead(pin);
	}

	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" set to "));
	client.println(value);

	// Update datastore key with the current pin value
	String key = "D";
	key += pin;
	Bridge.put(key, String(value));
	}

	void analogCommand(BridgeClient client) {
	int pin, value;

	// Read pin number
	pin = client.parseInt();

	// If the next character is a '/' it means we have an URL
	// with a value like: "/analog/5/120"
	if (client.read() == '/') {
	// Read value and execute command
	value = client.parseInt();
	analogWrite(pin, value);

	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" set to analog "));
	client.println(value);

	// Update datastore key with the current pin value
	String key = "D";
	key += pin;
	Bridge.put(key, String(value));
	} else {
	// Read analog pin
	value = analogRead(pin);

	// Send feedback to client
	client.print(F("Pin A"));
	client.print(pin);
	client.print(F(" reads analog "));
	client.println(value);

	// Update datastore key with the current pin value
	String key = "A";
	key += pin;
	Bridge.put(key, String(value));
	}
	}

	void modeCommand(BridgeClient client) {
	int pin;

	// Read pin number
	pin = client.parseInt();

	// If the next character is not a '/' we have a malformed URL
	if (client.read() != '/') {
	client.println(F("error"));
	return;
	}

	String mode = client.readStringUntil('\r');

	if (mode == "input") {
	pinMode(pin, INPUT);
	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" configured as INPUT!"));
	return;
	}

	if (mode == "output") {
	pinMode(pin, OUTPUT);
	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" configured as OUTPUT!"));
	return;
	}

	client.print(F("error: invalid mode "));
	client.print(mode);
	}
	int MOTOR_A = 0;
	int MOTOR_B = 1;
	int MOTOR_A_AND_B = 2;


	#include <Bridge.h>
	#include <BridgeServer.h>
	#include <BridgeClient.h>

	#include <HttpClient.h>

	// Listen to the default port 5555, the Yún webserver
	// will forward there all the HTTP requests you send
	BridgeServer server;

	void setup() {
	// Bridge startup
	Bridge.begin();


	//Setup Channel A
	pinMode(12, OUTPUT); //Initiates Motor Channel A pin
	pinMode(9, OUTPUT); //Initiates Brake Channel A pin

	//Setup Channel B
	pinMode(13, OUTPUT); //Initiates Motor Channel A pin
	pinMode(8, OUTPUT); //Initiates Brake Channel A pin


	pinMode(6, OUTPUT);
	pinMode(5, OUTPUT);

	digitalWrite(6, LOW);
	digitalWrite(5, LOW);

	// Listen for incoming connection only from localhost
	// (no one from the external network could connect)
	server.listenOnLocalhost();
	server.begin();
	}

	void soundOnFire() {
	int fireValue = analogRead(A2);
	int fireRange = map(fireValue, 0, 1024, 0, 3);

	switch(fireRange) {
	case 0:
	tone(10,1000, 20);
	tone(10,4500, 20);
	break;
	case 1:
	tone(10,3000, 20);
	tone(10,2500, 20);
	break;

	case 2:

	break;


	}

	}

	void loop() {
	soundOnFire();


	// Get clients coming from server
	BridgeClient client = server.accept();

	// There is a new client?
	if (client) {
	// Process request
	process(client);

	// Close connection and free resources.
	client.stop();
	}

	delay(50); // Poll every 50ms
	}

	void process(BridgeClient client) {
	// read the command
	String command = client.readStringUntil('/');

	// is "digital" command?
	if (command == "digital") {
	digitalCommand(client);
	}

	// is "analog" command?
	if (command == "analog") {
	analogCommand(client);
	}

	// is "mode" command?
	if (command == "mode") {
	modeCommand(client);
	}

	if (command == "left") {
	turnLeft();
	}


	if (command == "right") {
	turnRight();

	}


	if (command == "go") {
	goForward(255);

	}


	if (command == "stop") {
	breakMotor(MOTOR_A_AND_B);

	}

	if (command == "lamp_on") {
	HttpClient lampClient;

	// Make a HTTP request:
	lampClient.get("http://192.168.240.186/arduino/digital/8/1");

	}


	if (command == "lamp_off") {
	HttpClient lampClient;

	// Make a HTTP request:
	lampClient.get("http://192.168.240.186/arduino/digital/8/0");
	}

	if (command == "fire") {
	int fireValue = analogRead(A2);
	int fireRange = map(fireValue, 0, 1024, 0, 3);

	client.print(fireValue);
	client.print(" ");
	switch(fireRange) {
	case 0:
	client.println("Closed fire");
	break;
	case 1:
	client.println("Distant fire");

	break;

	case 2:

	client.println("No fire");
	break;


	}


	}

	}

	void digitalCommand(BridgeClient client) {
	int pin, value;

	// Read pin number
	pin = client.parseInt();

	// If the next character is a '/' it means we have an URL
	// with a value like: "/digital/13/1"
	if (client.read() == '/') {
	value = client.parseInt();
	digitalWrite(pin, value);
	} else {
	value = digitalRead(pin);
	}

	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" set to "));
	client.println(value);

	// Update datastore key with the current pin value
	String key = "D";
	key += pin;
	//Bridge.put(key, String(value));
	}

	void analogCommand(BridgeClient client) {
	int pin, value;

	// Read pin number
	pin = client.parseInt();

	// If the next character is a '/' it means we have an URL
	// with a value like: "/analog/5/120"
	if (client.read() == '/') {
	// Read value and execute command
	value = client.parseInt();
	analogWrite(pin, value);

	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" set to analog "));
	client.println(value);

	// Update datastore key with the current pin value
	String key = "D";
	key += pin;
	Bridge.put(key, String(value));
	} else {
	// Read analog pin
	value = analogRead(pin);

	// Send feedback to client
	client.print(F("Pin A"));
	client.print(pin);
	client.print(F(" reads analog "));
	client.println(value);

	// Update datastore key with the current pin value
	String key = "A";
	key += pin;
	//Bridge.put(key, String(value));
	}
	}

	void modeCommand(BridgeClient client) {
	int pin;

	// Read pin number
	pin = client.parseInt();

	// If the next character is not a '/' we have a malformed URL
	if (client.read() != '/') {
	client.println(F("error"));
	return;
	}

	String mode = client.readStringUntil('\r');

	if (mode == "input") {
	pinMode(pin, INPUT);
	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" configured as INPUT!"));
	return;
	}

	if (mode == "output") {
	pinMode(pin, OUTPUT);
	// Send feedback to client
	client.print(F("Pin D"));
	client.print(pin);
	client.print(F(" configured as OUTPUT!"));
	return;
	}

	client.print(F("error: invalid mode "));
	client.print(mode);
	}


	int MOTOR_FORWARD = HIGH;
	int MOTOR_BACKWARD = LOW;

	void go(int motorNumber, int motorSpeed, int motorDirection) {
	if (motorNumber == MOTOR_A) {
	//Motor A forward @ motorSpeed
	digitalWrite(12, motorDirection); //Establishes forward direction of Channel A
	digitalWrite(9, LOW); //Disengage the Brake for Channel A
	analogWrite(3, motorSpeed); //Spins the motor on Channel A at motorSpeed
	} else if (motorNumber == MOTOR_B) {
	//Motor B forward @ motorSpeed
	digitalWrite(13, motorDirection); //Establishes forward direction of Channel B
	digitalWrite(8, LOW); //Disengage the Brake for Channel B
	analogWrite(11, motorSpeed); //Spins the motor on Channel A at motorSpeed

	} else if (motorNumber == MOTOR_A_AND_B) {
	digitalWrite(12, motorDirection); //Establishes forward direction of Channel A
	digitalWrite(9, LOW); //Disengage the Brake for Channel A
	analogWrite(3, motorSpeed); //Spins the motor on Channel A at motorSpeed

	//Motor B forward @ motorSpeed
	digitalWrite(13, motorDirection); //Establishes forward direction of Channel B
	digitalWrite(8, LOW); //Disengage the Brake for Channel B
	analogWrite(11, motorSpeed); //Spins the motor on Channel A at motorSpeed
	}
	}

	void goForward(int motorSpeed) {
	go(MOTOR_B, 255, MOTOR_FORWARD);
	go(MOTOR_A, 255, MOTOR_BACKWARD);
	}


	void goBackward(int motorSpeed) {
	go(MOTOR_B, 255, MOTOR_BACKWARD);
	go(MOTOR_A, 255, MOTOR_FORWARD);
	}

	void turnLeft() {
	go(MOTOR_B, 255, MOTOR_BACKWARD);
	go(MOTOR_A, 255, MOTOR_BACKWARD);
	}


	void turnRight() {
	go(MOTOR_B, 255, MOTOR_FORWARD);
	go(MOTOR_A, 255, MOTOR_FORWARD);
	}

	void breakMotor(int motorNumber) {
	if (motorNumber == MOTOR_A) {
	digitalWrite(9, HIGH); //Engage the Brake for Channel A
	} else if (motorNumber == MOTOR_B) {
	digitalWrite(8, HIGH); //Engage the Brake for Channel B

	} else if (motorNumber == MOTOR_A_AND_B) {
	digitalWrite(9, HIGH); //Engage the Brake for Channel A
	digitalWrite(8, HIGH); //Engage the Brake for Channel B
	}
	}