motor.ino

void RUN(int l, int r)
{
  if (l < 0)
  {
    l = l * (-1);
    digitalWrite(FL_motorA, LOW);
    digitalWrite(FL_motorB, HIGH);

    analogWrite(FL_pwm_pin, l);

    digitalWrite(BL_motorA, LOW);
    digitalWrite(BL_motorB, HIGH);

    analogWrite(BL_pwm_pin, l);
  }

  else if (l >= 0)
  {
    digitalWrite(FL_motorA, HIGH);
    digitalWrite(FL_motorB, LOW);

    analogWrite(FL_pwm_pin, l);

    digitalWrite(BL_motorA, HIGH);
    digitalWrite(BL_motorB, LOW);

    analogWrite(BL_pwm_pin, l);
  }

  if (r < 0)
  {
    r = r * (-1);
    digitalWrite(FR_motorA, LOW);
    digitalWrite(FR_motorB, HIGH);

    analogWrite(FR_pwm_pin, r);

    digitalWrite(BR_motorA, LOW);
    digitalWrite(BR_motorB, HIGH);

    analogWrite(BR_pwm_pin, r);
  }

  else if (r >= 0)
  {
    digitalWrite(FR_motorA, HIGH);
    digitalWrite(FR_motorB, LOW);

    analogWrite(FR_pwm_pin, r);

    digitalWrite(BR_motorA, HIGH);
    digitalWrite(BR_motorB, LOW);

    analogWrite(BR_pwm_pin, r);
  }
}