/* 
Code for testing Skitter Drive
by Jonathan Lane, AndyMark Inc
created for Purdue University
*/

// Motor 2:
#define MOTOR_IN1 6
#define MOTOR_IN2 7

// Motor 1:
#define MOTOR_IN3 8
#define MOTOR_IN4 9

void setup() 
{
  Serial.begin(9600);

  Serial.println("Skitter Drive Test");

  pinMode(MOTOR_IN1, OUTPUT);
  pinMode(MOTOR_IN2, OUTPUT);
  pinMode(MOTOR_IN3, OUTPUT);
  pinMode(MOTOR_IN4, OUTPUT);
}

void loop() 
{
  // speed ramp up forward
  digitalWrite(MOTOR_IN1, LOW); // Motor 2
  digitalWrite(MOTOR_IN3, LOW); // Motor 1
  for (int i = 0; i < 255; i++) 
  {
    analogWrite(MOTOR_IN2, i);
    analogWrite(MOTOR_IN4, i);
    delay(10);
  }

  // forward full speed for one second
  delay(1000);

  // speed ramp down forward
  for (int i = 255; i >= 0; i--) 
  {
    analogWrite(MOTOR_IN2, i);
    analogWrite(MOTOR_IN4, i);
    delay(10);
  }

  // speed ramp up backward
  digitalWrite(MOTOR_IN2, LOW); // Motor 2
  digitalWrite(MOTOR_IN4, LOW); // Motor 1
  for (int i = 0; i < 255; i++) 
  {
    analogWrite(MOTOR_IN1, i);
    analogWrite(MOTOR_IN3, i);
    delay(10);
  }

  // backward full speed for one second
  delay(1000);

  // speed ramp down backward
  for (int i = 255; i >= 0; i--) 
  {
    analogWrite(MOTOR_IN1, i);
    analogWrite(MOTOR_IN3, i);
    delay(10);
  }
}