arduino_lab11.ino

#define LEFT_FORWARD 11 
#define LEFT_BACKWARD 8 
#define LEFT_SPEED 9 
#define RIGHT_FORWARD 13 
#define RIGHT_BACKWARD 12 
#define RIGHT_SPEED 10

void setup() {
  pinMode(LEFT_FORWARD, OUTPUT); 
  pinMode(LEFT_BACKWARD, OUTPUT); 
  pinMode(LEFT_SPEED, OUTPUT); 
  pinMode(RIGHT_FORWARD, OUTPUT); 
  pinMode(RIGHT_BACKWARD, OUTPUT); 
  pinMode(RIGHT_SPEED, OUTPUT); 
}

void loop() {
  if (Serial.available())
  {
    char temp = Serial.read();
	if (temp == 'W') {
		speed(100,100);
	} else if (temp == 'S') {
		speed(-100,-100);
	} else if (temp == 'A') {
		speed(-100, 100);
	} else if (temp == 'D') {
		speed(100, -100);
	} else if (temp == '\n') {
		// Do nothing
	} else {
		speed(0, 0);
	}
  }
}
void speed(int speed_left, int speed_right) {
  if (speed_left < 0) {
    digitalWrite(LEFT_FORWARD, LOW);
    digitalWrite(LEFT_BACKWARD, HIGH);
	analogWrite(LEFT_SPEED, speed_left);
  } else if (speed_left > 0) {
    digitalWrite(LEFT_FORWARD, HIGH); 
    digitalWrite(LEFT_BACKWARD, LOW);
	analogWrite(LEFT_SPEED, speed_left);
  } else {
    digitalWrite(LEFT_FORWARD, LOW); 
    digitalWrite(LEFT_BACKWARD, LOW);
  }

  if (speed_ right < 0) {
    digitalWrite(RIGHT_FORWARD, LOW); 
    digitalWrite(RIGHT_BACKWARD, HIGH);
	analogWrite(RIGHT_SPEED, speed_right);
  } else if (speed_right > 0) {
    digitalWrite(RIGHT_FORWARD, HIGH); 
    digitalWrite(RIGHT_BACKWARD, LOW);
	analogWrite(RIGHT_SPEED, speed_right);
  } else {
    digitalWrite(RIGHT_FORWARD, LOW); 
    digitalWrite(RIGHT_BACKWARD, LOW);
  }
}