roboMove()

// Call roboMove() with +/- 100 for left and right motors to denote speed and direction
// Also include a delay value to control run time of the motors
// For the code here, leftMotorDir, rightMotorDir, leftMotorPWM, rightMotorPWM are global
// pin definitions and maxSpeed is a global define
void roboMove(int right, int left, long dlay) {
  boolean rightDir, leftDir;
  int rightPWM, leftPWM;
  if (right > 0) {
    rightDir = 1; //forward
  }  else {
    rightDir = 0; //reverse
  }
  if (right == 0) {
    rightPWM = 0;
  } else {
    rightPWM = map(ABS(right), 1, 100, 1, maxSpeed);
  }
  if (left > 0) {
    leftDir = 1; //forward
  }  else {
    leftDir = 0; //reverse
  }
  if (left == 0) {
    leftPWM = 0;
  } else {
    leftPWM = map(ABS(left), 1, 100, 1, maxSpeed);
  }
  digitalWrite(rightMotorDir, rightDir);
  digitalWrite(leftMotorDir, leftDir);
  analogWrite(rightMotorPWM, rightPWM);
  analogWrite(leftMotorPWM, leftPWM);
  delay(dlay);
}