/****************************************************
* Example of using analog input to control motor.   *
* This is just a continuous loop that reads the A/D *
* value (this might come from an IR sensor) and     *
* changes the speed of a motor proportionally.  We  *
* had to be careful about the (int) and (float)     *
* variables.  Please use this as a very simple      *
* example, and not a very good one at that!         *
****************************************************/

void main()
{
    int voltage, duty_cycle; /* Some integer variables */
    int motor_ch = 2; /* int motor channel set to 2 */
    float drive; /* float var to contain duty cycle */
    
    while(1) { /* loop forever */
        voltage = analog(2); /* Read voltage input on ch 2 */
        duty_cycle = (voltage-128); /* Bias to zero mean */
        drive = (float)duty_cycle*(95./128.); /* Scale */
        motor(motor_ch,(int)drive); /* Drive motor */
    }
}