X-Git-Url: http://git.piffa.net/web?p=rover;a=blobdiff_plain;f=libraries%2Frover%2Frover.cpp;fp=libraries%2Frover%2Frover.cpp;h=1b6c88e16c32d3c86a55c2ed2d9932205a55f2aa;hp=5328a02bf8328a8388edabac9e4c724faa7d2e70;hb=7be1f456e0d5b7ac0b7fdef2c229de4777c716c6;hpb=844b3ebfdfaa336494408f921342c04627cba065

diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index 5328a02..1b6c88e 100644
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -37,7 +37,7 @@ void abilita() {
 }
 
 
-// MotorB
+// MotorA
 void forwardA() {
     // Avanzamento motore
     digitalWrite(in1,LOW);
@@ -45,6 +45,13 @@ void forwardA() {
     analogWrite(enA,speedA);
 }
 
+void forwardA(byte speedA) {
+    // Avanzamento motore
+    digitalWrite(in1,LOW);
+    digitalWrite(in2,HIGH);
+    analogWrite(enA,speedA);
+}
+
 void backwardA() {
     // Reverse motore
     digitalWrite(in2,LOW);
@@ -52,6 +59,13 @@ void backwardA() {
     analogWrite(enA,speedA);
 }
 
+void backwardA(byte speedA) {
+    // Reverse motore
+    digitalWrite(in2,LOW);
+    digitalWrite(in1,HIGH);
+    analogWrite(enA,speedA);
+}
+
 void stopA() {
     // Stop
     digitalWrite(enA,LOW);
@@ -65,6 +79,13 @@ void forwardB() {
     analogWrite(enB,speedB);
 }
 
+void forwardB(byte speedB) {
+    // Avanzamento motore
+    digitalWrite(in3,LOW);
+    digitalWrite(in4,HIGH);
+    analogWrite(enB,speedB);
+}
+
 void backwardB() {
     // Reverse motore
     digitalWrite(in4,LOW);
@@ -72,6 +93,13 @@ void backwardB() {
     analogWrite(enB,speedB);
 }
 
+void backwardB(byte speedB) {
+    // Reverse motore
+    digitalWrite(in4,LOW);
+    digitalWrite(in3,HIGH);
+    analogWrite(enB,speedB);
+}
+
 void stopB() {
     // Stop
     digitalWrite(enB,LOW);