quick_test.ino

const int ENCODER_PIN_L = 0,
  ENCODER_PIN_R = 1;


//this struct holds the pin numbers for the motor shield
struct MotorShieldPins {
    int DIR_; //direction pin
    int PWM_; //pwm pin
    int BRK_; //brake pin
    int CUR_; //current sensor

MotorShieldPins(int DIR, int BRK, int PWM_pin, int CUR) : DIR_(DIR), BRK_(BRK), PWM_(PWM_pin), CUR_(CUR) {};
};


void initMotor(MotorShieldPins* pins);
MotorShieldPins * mspLeft, * mspRight;

void setup() {
  mspLeft = new MotorShieldPins(2, 9, 3, A0);
  mspRight = new MotorShieldPins(5, 8, 6, A1);
  // put your setup code here, to run once:


    analogWriteResolution(12);
    analogReadResolution(12);

    initMotor(mspLeft);
    initMotor(mspRight);

    pinMode(ENCODER_PIN_L,INPUT);
    pinMode(ENCODER_PIN_R,INPUT);
    
    digitalWrite(ENCODER_PIN_L,HIGH); // pull-up
    
    digitalWrite(ENCODER_PIN_R,HIGH); // pull-up

    
    analogWrite(mspLeft->PWM_,4095);
    analogWrite(mspRight->PWM_,4095);
}



void initMotor(MotorShieldPins* pins)
{
    pinMode(pins->DIR_,OUTPUT);
    pinMode(pins->BRK_,OUTPUT);
    pinMode(pins->PWM_,OUTPUT);
    pinMode(pins->CUR_,INPUT);

    digitalWrite(pins->DIR_,HIGH);
    digitalWrite(pins->BRK_,LOW);
}
void loop() {
  // put your main code here, to run repeatedly:

}