tron 19 12 06 lowlevel

#define PINDIR1 4
#define PINPWM1 5
#define PINDIR2 2
#define PINPWM2 3
#define PINTRIG 12
#define PINECHO 11
#define PINC1 0
#define PINC2 1
#define PINC3 2
#define PINC4 3


void setup_motors() {
  pinMode(PINDIR1, OUTPUT);
  pinMode(PINPWM1, OUTPUT);
  pinMode(PINDIR2, OUTPUT);
  pinMode(PINPWM2, OUTPUT);
  digitalWrite(PINDIR1,LOW);
  digitalWrite(PINDIR2,LOW);
}

void setup_sensors()
{
  pinMode(PINTRIG, OUTPUT);
  digitalWrite(PINTRIG, LOW); // La broche TRIGGER doit être à LOW au repos
  pinMode(PINECHO, INPUT);
//  pinMode(PINC1, INPUT);
//  pinMode(PINC2, INPUT);
//  pinMode(PINC3, INPUT);
//  pinMode(PINC4, INPUT);
}

void write_motors(bool dirL, bool dirR, int speedL, int speedR) {
  digitalWrite(PINDIR1, (dirL) ? LOW : HIGH);
  digitalWrite(PINDIR2, (dirR) ? LOW : HIGH);
  analogWrite(PINPWM1, (dirL) ? speedL : 255-speedL);
  analogWrite(PINPWM2, (dirR) ? speedR : 255-speedR);

}