L298 Motor Controller

// Left motor pins

#define ENA 5 // ENA speed pin for left motor

#define IN1 8   // IN1 on Motor controller board

#define IN2 9   // IN2

// Right motor pins

#define ENB 6 // ENB speed pin for right motor

#define IN3 10       // IN3 on Motor controller board

#define IN4 11       // IN4

int rightspeed = 200;

int leftspeed = 200;

void setup() {

  // put your setup code here, to run once:

  pinMode(ENA, OUTPUT);  //Pins 3 and 11 are the PWM pins that control speed

  pinMode(IN1, OUTPUT);

  pinMode(IN2, OUTPUT);

  pinMode(ENB, OUTPUT);

  pinMode(IN3, OUTPUT); //sets up left motor

  pinMode(IN4, OUTPUT);

  analogWrite(ENA, leftspeed); //set speed to mid

  analogWrite(ENB, rightspeed); //set speed to mid

}

void loop()  {

 forward();

 delay(1000);

 halt();

 delay(1000);

  }

void forward() {

  analogWrite(ENA, leftspeed); //set speed to mid

  digitalWrite(IN1, HIGH);//left motor forward

  digitalWrite(IN2, LOW);  //right motor forward

  analogWrite(ENB, rightspeed); //set speed to mid

  digitalWrite(IN3, HIGH);//left motor forward

  digitalWrite(IN4, LOW);  //right motor forward

}

void halt() {

  analogWrite(ENA, leftspeed); //set speed to mid

  digitalWrite(IN1, HIGH);//left motor forward

  digitalWrite(IN2, HIGH);  //right motor forward

  analogWrite(ENB, rightspeed); //set speed to mid

  digitalWrite(IN3, HIGH);//left motor forward

  digitalWrite(IN4, HIGH);  //right motor forward

}