/*
  Basic test of LED output, dual PWM motor drivers and dual photodiode input
 */
 
 /*
 5, 6 PWM for motors
 A0, A1 - phototransistors
 A2, A3 - LED (A2 is Anode)
*/

int val0 = 0;
int val1 = 0;

void setup() {                
  // initialize the digital pin as an output.
  // Pin 13 has an LED connected on most Arduino boards:
  pinMode(13, OUTPUT);
  pinMode(A2, OUTPUT);
  pinMode(A3, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  Serial.begin(57600);
}

void loop() {
  digitalWrite(13, HIGH);   // set the LED on
  digitalWrite(A2, HIGH);   // set the LED on
  digitalWrite(A3, LOW);   // set the LED on
  delay(100);              // wait for a 1/10 second
  digitalWrite(13, LOW);    // set the LED off
  digitalWrite(A2, LOW);   // set the LED on
  digitalWrite(A3, HIGH);   // set the LED on
  delay(100);              // wait for a 1/10 second
  val0 = analogRead(A0);    // read the input pin
  val1 = analogRead(A1);    // read the input pin
  Serial.print(val0);
  Serial.print("\t");
  Serial.println(val1);
  analogWrite(10, 255-(val0-500)/2); // set PWM dutycycle from photodiode level
  analogWrite(9, 255-(val1-500)/2); // set PWM dutycycle from photodiode level
}