int channel[2];
int mpwm1=2;
int mpwm2=3;
int mpwm3=4;
int mpwm4=7;
int dir1=8;
int dir2=9;
int dir3=10;
int dir4=11;
void setup() {
Serial.begin(9600);
pinMode(2,OUTPUT);
pinMode(3,OUTPUT);
pinMode(4,OUTPUT);
pinMode(5,INPUT);
pinMode(6,INPUT);
pinMode(7,OUTPUT);
pinMode(8,OUTPUT);
pinMode(9,OUTPUT);
pinMode(10,OUTPUT);
pinMode(11,OUTPUT);
}
void loop() {
Serial.print(channel[0]);
Serial.print(" - ");
Serial.print(channel[1]);
Serial.println(" - ");
mpwm1=0;
mpwm2=0;
mpwm3=0;
mpwm4=0;
channel[0]=pulseIn(5,HIGH);
channel[1]=pulseIn(6,HIGH);
if(channel[0]>1494) {
mpwm1,mpwm2=map(channel[0],1494,1618,0,255);//left side forward
analogWrite(2,mpwm1);
analogWrite(3,mpwm2);
digitalWrite(8,HIGH);
digitalWrite(9,HIGH);
}
if(channel[0]<1487) {
mpwm1,mpwm2=map(channel[0],999,1487,0,255); //left side backward
analogWrite(2,mpwm1);
analogWrite(3,mpwm2);
digitalWrite(8,LOW);
digitalWrite(9,LOW);
}
if(channel[1]>1486) {
mpwm3,mpwm4=map(channel[1],1486,1982,0,255);//right side forward
analogWrite(4,mpwm3);
analogWrite(7,mpwm4);
digitalWrite(10,HIGH);
digitalWrite(11,HIGH);
}
if(channel[1]<1478) {
mpwm3,mpwm4=map(channel[1],999,1478,0,255); //right side backward
analogWrite(4,mpwm3);
analogWrite(7,mpwm4);
digitalWrite(10,LOW);
digitalWrite(11,LOW);
}
}
