Alles PWM oder wie?

[i_make_it]

So, hier die Fassung mit den vier Parametern.

/* 
PWM Pins
Nano: 3; 5; 6; 9; 10; 11
Uno: 3; 5; 6; 9; 10; 11
Due: 2; 3; 4; 5; 6; 7; 8; 9; 10; 11; 12; 13
Mega 2560: 2; 3; 4; 5; 6; 7; 8; 9; 10; 11; 12; 13
*/

int IN1 = 9;
int IN2 = 8;
int IN3 = 7;
int IN4 = 6;
int speedl1;
int speedl2;
int speedr1;
int speedr2;
int loopcount;

void setup()
{
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
}

void loop()
{
// Vorwärts
  for (int loopcount=0; loopcount <=255; loopcount++){
    speedl1 = loopcount;
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=255; loopcount >=0; loopcount--){
    speedl1 = loopcount;
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
// Rückwärts
  for (int loopcount=0; loopcount <=255; loopcount++){
    speedl1 = 0;
    speedl2 = loopcount;
    speedr1 = 0;
    speedr2 = loopcount;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=255; loopcount >=0; loopcount--){
    speedl1 = 0;
    speedl2 = loopcount;
    speedr1 = 0;
    speedr2 = loopcount;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
// Links Drehen über Mittelpunkt
  for (int loopcount=0; loopcount <=255; loopcount++){
    speedl1 = loopcount;
    speedl2 = 0;
    speedr1 = (255 - loopcount);
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=255; loopcount >=0; loopcount--){
    speedl1 = loopcount;
    speedl2 = 0;
    speedr1 = (255 - loopcount);
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
// Rechts Drehen über Mittelpunkt
  for (int loopcount=0; loopcount <=255; loopcount++){
    speedl1 = (255 - loopcount);
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=255; loopcount >=0; loopcount--){
    speedl1 = (255 - loopcount);
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
// Links Drehen über linkes Rad
  for (int loopcount=0; loopcount <=255; loopcount++){
    speedl1 = loopcount;
    speedl2 = 0;
    speedr1 = 0;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=255; loopcount >=0; loopcount--){
    speedl1 = loopcount;
    speedl2 = 0;
    speedr1 = 0;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
// Rechts Drehen über rechtes Rad
  for (int loopcount=0; loopcount <=255; loopcount++){
    speedl1 = 0;
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=255; loopcount >=0; loopcount--){
    speedl1 = 0;
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
 // Vorwärts Kurve Links Radius = Roboterbreite
   for (int loopcount=0; loopcount <=127; loopcount++){
    speedl1 = (loopcount * 2);
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=127; loopcount >=0; loopcount--){
    speedl1 = (loopcount * 2);
    speedl2 = 0;
    speedr1 = loopcount;
    speedr2 = 0;
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
// Rückwärts Kurve Rechts Radius = Roboterbreite
  for (int loopcount=0; loopcount <=127; loopcount++){
    speedl1 = 0;
    speedl2 = loopcount;
    speedr1 = 0;
    speedr2 = (loopcount * 2);
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
  for (int loopcount=127; loopcount >=0; loopcount--){
    speedl1 = 0;
    speedl2 = loopcount;
    speedr1 = 0;
    speedr2 = (loopcount * 2);
    PWMDrive(speedl1, speedl2, speedr1, speedr2);
    delay(10);
  }
}

void PWMDrive(int speedl1,int speedl2,int speedr1,int speedr2){
  analogWrite(IN1, speedl1);
  analogWrite(IN2, speedl2);
  analogWrite(IN3, speedr1);
  analogWrite(IN4, speedr2);
}