+void abilita() {
+// Abilita i PINs come OUTPUTS
+ pinMode(enA, OUTPUT);
+ pinMode(in1, OUTPUT);
+ pinMode(in2, OUTPUT);
+ pinMode(enB, OUTPUT);
+ pinMode(in3, OUTPUT);
+ pinMode(in4, OUTPUT);
+}
+
+
+// MotorB
+void forwardA() {
+ // Avanzamento motore
+ digitalWrite(in1,LOW);
+ digitalWrite(in2,HIGH);
+ analogWrite(enA,speedA);
+}
+
+void backwardA() {
+ // Reverse motore
+ digitalWrite(in2,LOW);
+ digitalWrite(in1,HIGH);
+ analogWrite(enA,speedA);
+}
+
+void stopA() {
+ // Stop
+ digitalWrite(enA,LOW);
+}
+
+// MotorB
+void forwardB() {
+ // Avanzamento motore
+ digitalWrite(in3,LOW);
+ digitalWrite(in4,HIGH);
+ analogWrite(enB,speedB);
+}
+
+void backwardB() {
+ // Reverse motore
+ digitalWrite(in4,LOW);
+ digitalWrite(in3,HIGH);
+ analogWrite(enB,speedB);
+}
+
+void stopB() {
+ // Stop
+ digitalWrite(enB,LOW);
+}