soft PWM added

1 files changed, 7 insertions, 9 deletions

diff --git a/debug/motordriver/onemotor/onemotor.ino b/debug/motordriver/onemotor/onemotor.ino
index f3d91e6..33f0c5c 100644
--- a/debug/motordriver/onemotor/onemotor.ino
+++ b/debug/motordriver/onemotor/onemotor.ino
@@ -1,5 +1,3 @@
-#include <Arduino.h>
-
 int enA = 1;
 int enB = 2;
 int pwm1 = 3;
@@ -7,7 +5,7 @@ int pwm2 = 4;
 int encoA = 5;
 int encoB = 6;
 
-int speed = 100; // speed 0-100
+int speed = 1; // speed 0-1
 
 double sp = 0.00;
 double rpm = 0.00;
@@ -56,17 +54,17 @@ void resetenc(){
 }
 
 void move(int sped) {
-  sp = abs(sped)*2.55;
-  digitalWrite(enA, HIGH);
+  sp = abs(sped)*255;
+  analogWrite(enA, sp);
   digitalWrite(enB, LOW);
   if (sped < 0) {
     Serial.print("back ");
-    analogWrite(pwm1, sp);
-    analogWrite(pwm2, 0);
+    digitalWrite(pwm1, LOW);
+    digitalWrite(pwm2, HIGH);
   } else {
     Serial.print("forward ");
-    analogWrite(pwm1, 0);
-    analogWrite(pwm2, sp);
+    digitalWrite(pwm1, HIGH);
+    digitalWrite(pwm2, LOW);
   } 
   Serial.println(sp);
 }