L298N

L298Nmotor(int pwmR=7, int in1L=4, int in2R=5, int pwmL=6, int in3L=12, int in4L=13)

If nothing is specified, the Contructor assumes a MEGA2560 board with the following pins used

int pwmR=7

This is the pin that's connected to the 'Enable' input for the right motor on the L298N board.

int in1L=4

This is the pin that's connected to the IN1 input on the L298N board. It assumes that this input controls the right motor.

int in2R=5

This is the pin that's connected to the IN2 input on the L298N board. It assumes that this input controls the right motor.

int pwmL=6

This is the pin that's connected to the 'Enable' input for the left motor on the L298N board.

int in3L=12

This is the pin that's connected to the IN3 input on the L298N board. It assumes that this input controls the left motor.

int in4L=13

This is the pin that's connected to the IN4 input on the L298N board. It assumes that this input controls the left motor.

void turnlLeft(int8_t amt)

Turn the 'steering wheel' left by amt. This will reduce the speed of the left motor.

void turnRight(int8_t amt)

Turn the 'steering wheel' right by amt. This will reduce the speed of the right motor.

void returnToCenter(int increment)

Emulate caster angle forces, returning the steering wheel to center (increment=0 sets it dead center)

void setThrottle(uint8_t newSpeed)

Set the amount of throttle. If the steering whell is centered at 90 deg, both left and right motors will get the same PWM value.

void setGear(GearBox lever)

This will manipulate the IN1, _IN2, IN3 and IN4 signals.