Manual

analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
analogWrite (E3,a);
digitalWrite(M3,HIGH);
analogWrite (E4,b);
digitalWrite(M4,HIGH);
}
void ccw (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
analogWrite (E3,a);
digitalWrite(M3,HIGH);
analogWrite (E4,b);
digitalWrite(M4,LOW);
}
void cw (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);
analogWrite (E3,a);
digitalWrite(M3,LOW);
analogWrite (E4,b);
digitalWrite(M4,HIGH);
}
void left (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
digitalWrite(M2,LOW);
analogWrite (E3,a);
digitalWrite(M3,HIGH);
analogWrite (E4,b);
digitalWrite(M4,LOW);
}
void right (char a,char b)
{
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
digitalWrite(M2,HIGH);
analogWrite (E3,a);
digitalWrite(M3,LOW);
analogWrite (E4,b);
digitalWrite(M4,HIGH);
}