6 Link: http://aero.piffa.net
20 extern byte speedA = 255;
25 extern byte speedB = 255;
29 // Abilita i PINs come OUTPUTS
30 pinMode(_enA, OUTPUT);
31 pinMode(_in1, OUTPUT);
32 pinMode(_in2, OUTPUT);
33 pinMode(_enB, OUTPUT);
34 pinMode(_in3, OUTPUT);
35 pinMode(_in4, OUTPUT);
42 digitalWrite(_in1,LOW);
43 digitalWrite(_in2,HIGH);
44 analogWrite(_enA,velA);
46 digitalWrite(_in3,LOW);
47 digitalWrite(_in4,HIGH);
48 analogWrite(_enB,velB);
55 // Abilita i PINs come OUTPUTS
68 digitalWrite(in1,LOW);
69 digitalWrite(in2,HIGH);
70 analogWrite(enA,speedA);
73 void forwardA(byte speedA) {
75 digitalWrite(in1,LOW);
76 digitalWrite(in2,HIGH);
77 analogWrite(enA,speedA);
82 digitalWrite(in2,LOW);
83 digitalWrite(in1,HIGH);
84 analogWrite(enA,speedA);
87 void backwardA(byte speedA) {
89 digitalWrite(in2,LOW);
90 digitalWrite(in1,HIGH);
91 analogWrite(enA,speedA);
96 digitalWrite(enA,LOW);
101 // Avanzamento motore
102 digitalWrite(in3,LOW);
103 digitalWrite(in4,HIGH);
104 analogWrite(enB,speedB);
107 void forwardB(byte speedB) {
108 // Avanzamento motore
109 digitalWrite(in3,LOW);
110 digitalWrite(in4,HIGH);
111 analogWrite(enB,speedB);
116 digitalWrite(in4,LOW);
117 digitalWrite(in3,HIGH);
118 analogWrite(enB,speedB);
121 void backwardB(byte speedB) {
123 digitalWrite(in4,LOW);
124 digitalWrite(in3,HIGH);
125 analogWrite(enB,speedB);
130 digitalWrite(enB,LOW);