File content as of revision 0:f40ab7184c3f:

#include <mbed.h>
#include "bertl14.h"

DigitalOut engineLR(P1_0);     //IN1, EP10, MG1A => MG1 engine-Pin 2, left_Reverse
DigitalOut engineLF(P1_1);     //IN2, EP11, MG1B => MG1 engine-Pin 1, left_Forward
PwmOut engineLEN(p34);       //EN1, P34, left_ENABLE
DigitalOut engineRR(P1_4);    //IN4, EP13, MG2A => MG2 engine-Pin 2, right_Reverse
DigitalOut engineRF(P1_3);    //IN3, EP14, MG2B => MG2 engine-Pin 1, right_Forward
PwmOut engineREN(p36);      //EN2, P36, right_ENABLE

void bertl_engine(int left, int right)
{  
    // If the left engines-value is greater than 0, the left engine turn FORWARD
    if(left > 0)
    {
        engineLF=1;
        engineLR=0;
    }
    // Or if the left engines-value is less than 0, the left engine turn REVERSE
    else if(left < 0)
    {
        engineLF=0;
        engineLR=1;
        left = left * (-1);         // For PWM the Value have to be positive
    }
    // If the right engines-value is greater than 0, the right engine turn FORWARD
    if(right > 0)
    {
        engineRF=1;  
        engineRR=0;
    }
    // Or if the right engines-value is less than 0, the right engine turn REVERSE
    else if(right < 0)
    {
        engineRF=0;
        engineRR=1;
        right = right * (-1);       // For PWM the Value have to be positive
    }
    //pc.printf("left: %4d\r\n", left);
    //pc.printf("right: %4d\r\n", right);
    // Or if the right- or/and the left engines value equals 0, the ENABLE-Pin turn off (ENABLE Pin equals 0)
    engineLEN=(left/255.0);      // PWM Value : 0 ... 1
    engineREN=(right/255.0);    // PWM Value : 0 ... 1
}
//Begin Testing bertl-engines
void bertl_engine_test()
{
    bertl_engine(100, 0);     //The left engine must turn FORWARD for 2 seconds
    wait(2);
    bertl_engine(0, 100);     //The right engine must turn FORWARD for 2 seconds
    wait(2);
    bertl_engine(-100, 0);    //The left engine must turn REVERSE for 2 seconds
    wait(2);
    bertl_engine(0, -100);    //The right engine must turn REVERSE for 2 seconds
    wait(2);
}
//End Testing bertl-engines