motor.c

/BTS7960 motor driver sketch 

int R_IS = 1;
int R_EN = 2;
int R_PWM = 3;
int L_IS = 4;
int L_EN = 5;
int L_PWM = 6;

void setup() {
  Serial.begin(9600);
  // put your setup code here, to run once:
 pinMode(R_IS, OUTPUT);
 pinMode(R_EN, OUTPUT);
 pinMode(R_PWM, OUTPUT);
 pinMode(L_IS, OUTPUT);
 pinMode(L_EN, OUTPUT);
 pinMode(L_PWM, OUTPUT);
 digitalWrite(R_IS, LOW);
 digitalWrite(L_IS, LOW);
 digitalWrite(R_EN, HIGH);
 digitalWrite(L_EN, HIGH);
}

void loop() {
  // put your main code here, to run repeatedly:
  int i;
  for(i = 0; i <= 255; i= i+10){ //clockwise rotation
    Serial.write("clockwise\n");
   analogWrite(R_PWM, i);
   analogWrite(L_PWM, 0);
   delay(500);
  }
  delay(500);
  for(i = 0; i <= 255; i= i+10){ //counter clockwise rotation
    Serial.write("unclockwise\n");
   analogWrite(R_PWM, 0);
   analogWrite(L_PWM, i);
   delay(500);
  }
  delay(500);
}