Manual

30 | P a g e
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void turn_L (char a,char b) //Turn Left
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
}
void turn_R (char a,char b) //Turn Right
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,LOW);
}
void setup(void)
{
int i;
for(i=6;i<=9;i++)
pinMode(i, OUTPUT);
Serial.begin(19200); //Set Baud Rate
}
void loop(void)
{
char val = Serial.read();
if(val!=-1)
{
switch(val)
{
case 'w'://Move Forward
advance (100,100); //PWM Speed Control
break;
case 's'://Move Backward
back_off (100,100);
break;
case 'a'://Turn Left
turn_L (100,100);
break;
case 'd'://Turn Right
turn_R (100,100);