basic motor test

lunukhod.ino

/*
  Blink
 Turns on an LED on for one second, then off for one second, repeatedly.
 
 This example code is in the public domain.
 */
#define D1 3          // Направление вращение двигателя 1
#define M1 4          // ШИМ вывод для управления двигателем 1
#define D2 6          // Направление вращение двигателя 2
#define M2 5          // ШИМ вывод для управления двигателем 2

// Pin 13 has an LED connected on most Arduino boards.
// give it a name:
#define LED 2
int pin1 = 8;
int pin2 = 9;

// the setup routine runs once when you press reset:
void setup() {                
  Serial.begin(9600);  
  // initialize the digital pin as an output.
  pinMode(LED, OUTPUT);     
  pinMode(pin1, INPUT);           // set pin to input
  digitalWrite(pin1, HIGH);       // turn on pullup resistors
  pinMode(pin2, INPUT);           // set pin to input
  digitalWrite(pin2, HIGH);       // turn on pullup resistors

  pinMode(D1, OUTPUT);     
  pinMode(M1, OUTPUT);     
  pinMode(D2, OUTPUT);     
  pinMode(M2, OUTPUT);     
}
int i=0;
// the loop routine runs over and over again forever:
void loop() {
  // 
  delay(100);               // wait for a second
  //  
  //  delay(1000);               // wait for a second
  if(digitalRead(pin1) == 1)
  {
    Serial.println(i);
    digitalWrite(D1, HIGH);
    analogWrite(M1, 255 - i);
    digitalWrite(D2, HIGH);
    analogWrite(M2, 255 - i);
    i++;
  }
  if(digitalRead(pin2) == 1)
  {
    Serial.println(i);
    digitalWrite(D1, LOW);
    analogWrite(M1, i);
    digitalWrite(D2, LOW);
    analogWrite(M2, i);
    i--;
  }
  if(i>255) i =255;
  if(i<0) i=0;
  analogWrite(LED, i);   // turn the LED on (HIGH is the voltage level)
}