' This program controls 2 DC motors connected
' to h-bridge chips U3 and U4 on the OOBOT40 board. 
' Ramps the motor speeds up and down, and forwards
' and backwards.
'
' for motor A (using h-bridge U3):
'  - jumper J8-0 to J8-1 (lower-to-middle).
'  - connect motor at HDR3 M1 to M2. 
'  - connect motor battery at +M to gnd.
'
' for motor B (using h-bridge U4):
'  - jumper J9-0 to J9-1 (lower-to-middle).
'  - connect motor at HDR4 M5 to M6.

Dim A As New oDCMotor2
Dim B As New oDCMotor2
Dim x As New oByte

Sub Main() 

' set up motor A.
  A.IOLineP = 18	' PWM1 to U3 enable 1.
  A.IOLine1 = 24	' U3 In1.
  A.IOLine2 = 25	' U3 In2.
  A.Operate = 1
  A.Brake = cvOff

' set up motor B.
  B.IOLineP = 17	' PWM2 to U4 enable 1.
  B.IOLine1 = 28	' U4 In1.
  B.IOLine2 = 29	' U4 In2.
  B.Operate = 1
  B.Brake = cvOff

  Do
    For x = -100 To 100
      A = x
      B = x	
      OOPic.Delay = 2
    Next x

    For x = 100 To -100 step -1
      A = x
      B = x
      OOPic.Delay = 2
    Next x
  Loop 

End Sub