File content as of revision 8:d7941bcd9981:

void StopMotors();

DigitalOut motorLeft1(MOTOR_LEFT_1);
DigitalOut motorLeft2(MOTOR_LEFT_2);
DigitalOut motorRight1(MOTOR_RIGHT_1);
DigitalOut motorRight2(MOTOR_RIGHT_2);
PwmOut motorLeftPowerPin(MOTOR_LEFT_POWER_PIN);
PwmOut motorRightPowerPin(MOTOR_RIGHT_POWER_PIN);

void InitMotors()
{
    motorLeftPowerPin.period_us(100);
    motorRightPowerPin.period_us(100);
    StopMotors();
}

void StopMotors()
{
    motorLeft1 = 0;
    motorLeft2 = 0;
    motorRight1 = 0;
    motorRight2 = 0;
    motorLeftPowerPin.write(0);
    motorRightPowerPin.write(0);
}

void ForwardLeftMotor(float power)
{
    motorLeft1 = 0;
    motorLeft2 = 1;
    motorLeftPowerPin.write((int)power/1000);
}

void BackwardLeftMotor(float power)
{
    motorLeft1 = 1;
    motorLeft2 = 0;
    motorLeftPowerPin.write((int)power/1000);
}

void ForwardRightMotor(float power)
{
    motorRight1 = 0;
    motorRight2 = 1;
    motorRightPowerPin.write(power/1000);
}

void BackwardRightMotor(float power)
{
    motorRight1 = 1;
    motorRight2 = 0;
    motorRightPowerPin.write(power/1000);
}

void BreakMotors()
{
    motorLeft1 = 1;
    motorLeft2 = 1;
    motorRight1 = 1;
    motorRight2 = 1;
    motorLeftPowerPin.write(0);
    motorRightPowerPin.write(0);
}

void RunBothMotors(float leftPower, float rightPower)
{
    if (leftPower > 0)
    {
        ForwardLeftMotor(leftPower);
    }
    else
    {
        BackwardLeftMotor(abs(leftPower));
    }
    if (rightPower > 0)
    {
        ForwardRightMotor(rightPower);
    }
    else
    {
        BackwardRightMotor(abs(rightPower));
    }
}