arduino DRV8833 code

drv8833function.cpp

// connections to DRV8833
int AIN1pin = 9;
int AIN2pin = 10;

int BIN1pin = 14;
int BIN2pin = 15;

#define motorA 1
#define motorB 2


void configureMotor ( int motor , int speed ) {

  // speed = 128 = stop
  // speed = 0 = fullspeed backwards
  // speed = 256 = fullspeed forwards

  int IN1;
  int IN2;

  if (motor == motorA) {
    IN1 = AIN1pin;
    IN2 = AIN2pin;
  } else {
    IN1 = BIN1pin;
    IN2 = BIN2pin;
  }



  if (speed == 128){
    digitalWrite(IN1, 1);
    digitalWrite(IN2, 1);    
  }

  if (speed < 128) {
    digitalWrite(IN1, 1);
    analogWrite(IN2, 256-map(speed,0,127,0,255));
  }

  if (speed > 128) {
    digitalWrite(IN2, 1);
    analogWrite(IN1, map(speed,129,255,0,255));
  }

}