/* Sample program of DC motor control through Wytec EduBase board.
 * The Wytec EduBase board has a motor control device that consists of four
 * half-bridge circuit. This program uses two half-bridges to control the output
 * of M3-M4 terminals. A DC motor should be connected between M3 and M4 terminals
 * of the board. Pin 39 is used to control the pulse-width modulation of the output.
 * Pin 19 and 38 control the direction of the half-bridges and in turn control the
 * direction of the motor.
 * The program speeds up the motor, slows down the motor, reverse the direction then repeats.
 */
 
/* Tiva TM4C123 */ //const int PWM34 = PF_3;
const int PWM34 = 39;
/* Tiva TM4C123 */ //const int HalfBridgeLeft = PB_2;
const int HalfBridgeLeft = 19;
/* Tiva TM4C123 */ //const int HalfBridgeRight = PB_3;
const int HalfBridgeRight = 38;

void setup()
{ 
    pinMode(HalfBridgeRight, OUTPUT);
    pinMode(HalfBridgeLeft, OUTPUT);
} 

void loop()
{
    // change motor direction
    digitalWrite(HalfBridgeRight, HIGH);
    digitalWrite(HalfBridgeLeft, LOW);

    // ramp up the pulse width
    for(int pulseWidth = 0 ; pulseWidth <= 255; pulseWidth +=5) 
    {
        analogWrite(PWM34, pulseWidth);   // set pulse width  
        delay(50);                            // delay 50 ms
    } 
    
    // ramp down the pulse width
    for(int pulseWidth = 255 ; pulseWidth >= 0; pulseWidth -=5) 
    { 
        analogWrite(PWM34, pulseWidth);   // set pulse width        
        delay(50);                            // delay 50 ms
    }
    
    // change motor direction
    digitalWrite(HalfBridgeRight, LOW);
    digitalWrite(HalfBridgeLeft, HIGH);
    
    // ramp up the pulse width
    for(int pulseWidth = 0 ; pulseWidth <= 255; pulseWidth +=5) 
    {
        analogWrite(PWM34, pulseWidth);   // set pulse width  
        delay(50);                            // delay 50 ms
    } 
    
    // ramp down the pulse width
    for(int pulseWidth = 255 ; pulseWidth >= 0; pulseWidth -=5) 
    { 
        analogWrite(PWM34, pulseWidth);   // set pulse width        
        delay(50);                            // delay 50 ms
    }
}