#include <L298.

h>

#define s Serial
L298 m(10,11,8,9);

void setup(){
s.begin(9600);
m.setSpeed(0,0);
}
void loop(){
for(int i =0; i <5; i++){
s.print(analogRead(i));
s.print(",");
}
s.println(analogRead(5));
delay(100);
}
DualVNH5019MotorShield::DualVNH5019MotorShield(unsigned char INA1, unsigned char INB1,
unsigned char EN1DIAG1, unsigned char CS1,
unsigned char INA2, unsigned char INB2, unsigned char EN2DIAG2, unsigned
char CS2)
{
//Pin map
//PWM1 and PWM2 cannot be remapped because the library assumes PWM is on timer1
_INA1 = INA1;
_INB1 = INB1;
_EN1DIAG1 = EN1DIAG1;
_CS1 = CS1;
_INA2 = INA2;

_INB2 = INB2;
_EN2DIAG2 = EN2DIAG2;
_CS2 = CS2;
}

// Public Methods //////////////////////////////////////////////////////////////

void DualVNH5019MotorShield::init()
{
// Define pinMode for the pins and set the frequency for timer1.

pinMode(_INA1,OUTPUT);
pinMode(_INB1,OUTPUT);
pinMode(_PWM1,OUTPUT);
pinMode(_EN1DIAG1,INPUT);
pinMode(_CS1,INPUT);
pinMode(_INA2,OUTPUT);
pinMode(_INB2,OUTPUT);
pinMode(_PWM2,OUTPUT);
pinMode(_EN2DIAG2,INPUT);
pinMode(_CS2,INPUT);
#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
// Timer 1 configuration
// prescaler: clockI/O / 1
// outputs enabled
// phase-correct PWM
// top of 400
//
// PWM frequency calculation
// 16MHz / 1 (prescaler) / 2 (phase-correct) / 400 (top) = 20kHz

TCCR1A = 0b10100000;
TCCR1B = 0b00010001;
ICR1 = 400;
#endif
}
// Set speed for motor 1, speed is a number betwenn -400 and 400
void DualVNH5019MotorShield::setM1Speed(int speed)
{
unsigned char reverse = 0;

if (speed < 0)
{
speed = -speed; // Make speed a positive quantity
reverse = 1; // Preserve the direction
}
if (speed > 400) // Max PWM dutycycle
speed = 400;
#if defined(__AVR_ATmega168__)|| defined(__AVR_ATmega328P__)
OCR1A = speed;
#else
analogWrite(_PWM1,speed * 51 / 80); // default to using analogWrite, mapping 400 to 255
#endif
if (speed == 0)
{
digitalWrite(_INA1,LOW); // Make the motor coast no
digitalWrite(_INB1,LOW); // matter which direction it is spinning.
}
else if (reverse)
{

digitalWrite(_INA1,LOW);
digitalWrite(_INB1,HIGH);
}
else
{
digitalWrite(_INA1,HIGH);
digitalWrite(_INB1,LOW);
}
}