/* PWM Motor advanced
 * by DojoCorp <http://www.0j0.org>
 *
 * Demonstrates the use of analog output pins (PWM)
 * controlling a motor.
 *
 * Description of th pinout used by the motor control board:
 * - pwm pin 1 controls the speed on the A side of the H bridge
 * - pwm pin 2 controls the speed on the B side of the H bridge 
 * - digital pin 8 controls the direction for motor B 
 * - digital pin 9 controls the direction for motor A
 *
 * Created 19 March 2005
 */
 
int value = 0;                            // variable to keep the actual value 
int inA = 38;                             // reads the pin 38 as a pushbutton (pushbutt 1)
int inB = 39;                             // reads the pin 39 as a pushbutton (pushbutt 2)
int pwmpinA = 1;                          // motor A connected to analog pin 1
int pwmpinB = 2;                          // motor B connected to analog pin 2
int dirpinA = 9;                          // motor A direction pin
int dirpinB = 8;                          // motor B direction pin
boolean directionA = true;                // toggling direction for motor A
boolean directionB = true;                // toggling direction for motor B
int ledpin = 48;                          // show the led on if dirA = HIGH, off otherwise

void setup() {
   pinMode(inA, INPUT); 
   pinMode(inB, INPUT); 
   pinMode(ledpin, OUTPUT); 
}

void loop() {
   if (digitalRead(inA) == HIGH) {
      digitalWrite(dirpinA,HIGH);
      digitalWrite(ledpin,HIGH);
   } else {
      digitalWrite(dirpinA,LOW);
      digitalWrite(ledpin,LOW);
   }
   
   if (directionB) {
      digitalWrite(dirpinB,HIGH);
   } else {
      digitalWrite(dirpinB,LOW);
   }
   
   directionB = !directionB;
   
   // fade in (from min to max)
   for(value = 0 ; value <= 255; value+=5) {
      analogWrite(pwmpinA, value);  // sets the value (range from 0 to 255)
      analogWrite(pwmpinB, value);  // sets the value (range from 0 to 255)
      delay(30);                    // waits for 30 milli seconds to see the dimming effect
   }

   // fade out (from max to min)
   for(value = 255; value >=0; value-=5) {
      analogWrite(pwmpinA, value);
      analogWrite(pwmpinB, value);
      delay(30);
   } 
}