/*==========================================================================
  //  Author      : Handson Technology
  //  Project     : BTD7960 Motor Control Board driven by Arduino.
  //  Description : Geschwindigkeit und Richtung werden durch ein angeschlossenes Potentiometer gesteuert
  //  Poti an Plus und Minus, mittelabrif auf A0
  //  Source-Code : BTS7960.ino
  //  Program: Steuerung fuer DC Motor mit BTS7960 H-Bridge Treiber.
  //==========================================================================
  //  Connection to the BTS7960 board:
  //  BTS7960 Pin 1 (RPWM) to Arduino pin 5(PWM)
  //  BTS7960 Pin 2 (LPWM) to Arduino pin 6(PWM)
  //  BTS7960 Pin 3 (R_EN), 4 (L_EN), 7 (VCC) to Arduino 5V pin
  //  BTS7960 Pin 8 (GND) to Arduino GND
  //  BTS7960 Pin 5 (R_IS) and 6 (L_IS) not connected
*/
int SENSOR_PIN = A0; // center pin of the potentiometer
int RPWM_Output = 5; // Arduino PWM output pin 5 connect to IBT-2 pin 1 (RPWM)
int LPWM_Output = 6; // Arduino PWM output pin 6 connect to IBT-2 pin 2 (LPWM)
void setup()
{
  pinMode(RPWM_Output, OUTPUT);
  pinMode(LPWM_Output, OUTPUT);
}
void loop()
{
  int sensorValue = analogRead(SENSOR_PIN);
  // sensor value is in the range 0 to 1023
  // the lower half of it we use for reverse rotation the upper half for forward rotation
  if (sensorValue < 512)
  {
    // reverse rotation
    int reversePWM = -(sensorValue - 511) / 2;
    analogWrite(LPWM_Output, 0);
    analogWrite(RPWM_Output, reversePWM);
  }
  else
  {
    // forward rotation
    int forwardPWM = (sensorValue - 512) / 2;
    analogWrite(LPWM_Output, forwardPWM);
    analogWrite(RPWM_Output, 0);
  }
}