void thrusterNorthUp(int pwm, int isUpward) { pwm = btd122(pwm); analogWrite(pwmPinNorthUp, pwm); if (isUpward) { digitalWrite(directionPinNorthUp1, HIGH); digitalWrite(directionPinNorthUp2, LOW); } else { digitalWrite(directionPinNorthUp1, LOW); digitalWrite(directionPinNorthUp2, HIGH); } }
void thrusterSouthSway(int pwm, int isRight) { pwm = abs(pwm); pwm = btd122(pwm); analogWrite(pwmPinSouthSway, 255 - pwm); if (isRight) { digitalWrite(directionPinSouthSway1, HIGH); digitalWrite(directionPinSouthSway2, LOW); } else { digitalWrite(directionPinSouthSway1, LOW); digitalWrite(directionPinSouthSway2, HIGH); } }