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int dir_pin_a = 4;
int speed_pin_a = 5;
int dir_pin_b = 6;
int speed_pin_b = 7;
int i;
void setup()
{
pinMode(dir_pin_a, OUTPUT);
pinMode(speed_pin_a, OUTPUT);
pinMode(dir_pin_b, OUTPUT);
pinMode(speed_pin_b, OUTPUT);
Serial.begin(9600);
//make the motors rotate in opposite directions so show that they're working independantly.
digitalWrite(dir_pin_a, HIGH);
digitalWrite(dir_pin_b, LOW);
}
void loop()
{
Serial.println("Speeding motors up to max.");
for (i=0; i<=255; i++)
{
analogWrite(speed_pin_a, i);
analogWrite(speed_pin_b, i);
delay(100);
}
Serial.println("Motors at max.");
delay(1000);
Serial.println("Slowing down to 0;");
for (i=255; i>=0; i--)
{
analogWrite(speed_pin_a, i);
analogWrite(speed_pin_b, i);
delay(100);
}
Serial.println("Motors stopped.");
delay(1000);
Serial.println("Switching directions.");
digitalWrite(dir_pin_a, !digitalRead(dir_pin_a));
digitalWrite(dir_pin_b, !digitalRead(dir_pin_b));
}
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