/*
 * Cody Glen / Amir Karimpour
 * GSD Fall 2015
 * Informal Robotics / Chuck Hoberman
 * Jansenbot
 */

//libraries
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include "utility/Adafruit_PWMServoDriver.h"

//create motorshield object
Adafruit_MotorShield AFMStop(0x61); // Rightmost jumper closed
Adafruit_MotorShield AFMSbot(0x60); // Default address, no jumpers

//get motor on shield
Adafruit_DCMotor *myMotor1 = AFMSbot.getMotor(1);
Adafruit_DCMotor *myMotor2 = AFMSbot.getMotor(2);
Adafruit_DCMotor *myMotor3 = AFMSbot.getMotor(3);
Adafruit_DCMotor *myMotor4 = AFMSbot.getMotor(4);

Adafruit_DCMotor *myMotor5 = AFMStop.getMotor(1);
Adafruit_DCMotor *myMotor6 = AFMStop.getMotor(2);

//variables
int speedNum = 255;     //speed between 0-255

//setup
void setup() {
  
  //call start
  AFMStop.begin();
   AFMSbot.begin();

  //set speed
  myMotor1->setSpeed(speedNum);
  myMotor2->setSpeed(speedNum);
  myMotor3->setSpeed(speedNum);
  myMotor4->setSpeed(speedNum);
  myMotor5->setSpeed(speedNum);
  myMotor6->setSpeed(speedNum);
 
}

//run
void loop() {

  //run each motor
  myMotor1->run(FORWARD);
  myMotor2->run(FORWARD);
  myMotor3->run(FORWARD);
  myMotor4->run(FORWARD);
  myMotor5->run(FORWARD);
  myMotor6->run(FORWARD);

}