12V DC Motor Controlled By Adafruit TB6612 Motor Driver

/******************************************************************************
linear_actuator_DCmotor12V 
Modified By: Bo Bomwan, November 2022 
NOTES: This code works for either 1 motor, or 2 motors. In this code, I have it controlling only 1 motor (no pins are connected for the 2nd motor). 

TestRun.ino
TB6612FNG H-Bridge Motor Driver Example code
Michelle @ SparkFun Electronics
8/20/16
https://github.com/sparkfun/SparkFun_TB6612FNG_Arduino_Library

Uses 2 motors to show examples of the functions in the library.  This causes
a robot to do a little 'jig'.  Each movement has an equal and opposite movement
so assuming your motors are balanced the bot should end up at the same place it 
started.

Resources:
TB6612 SparkFun Library

Development environment specifics:
Developed on Arduino 1.6.4
Developed with ROB-9457
******************************************************************************/

// This is the library for the TB6612 that contains the class Motor and all the
// functions
#include <SparkFun_TB6612.h>

// Pins for all inputs, keep in mind the PWM defines must be on PWM pins
// the default pins listed are the ones used on the Redbot (ROB-12097) with
// the exception of STBY which the Redbot controls with a physical switch
#define AIN1 5
#define AIN2 4
#define PWMA 10
#define STBY 9

#define BIN1 7
#define BIN2 8
#define PWMB 6
  

// these constants are used to allow you to make your motor configuration 
// line up with function names like forward.  Value can be 1 or -1 
const int offsetA = 1;
const int offsetB = 1;

// Initializing motors.  The library will allow you to initialize as many
// motors as you have memory for.  If you are using functions like forward
// that take 2 motors as arguements you can either write new functions or
// call the function more than once.
Motor motor1 = Motor(AIN1, AIN2, PWMA, offsetA, STBY);
Motor motor2 = Motor(BIN1, BIN2, PWMB, offsetB, STBY);


void setup()
{
 //Nothing here
}


void loop()
{ 
  
   //Use of the drive function which takes as arguements the speed
   //and optional duration.  A negative speed will cause it to go
   //backwards.  Speed can be from -255 to 255.  Also use of the 
   //brake function which takes no arguements.
   motor1.drive(255,1000);
   motor1.drive(-255,1000);
   motor1.brake();
   delay(1000);
   
}


// Drive in direction given by sign, at speed given by magnitude of the 
//parameter.
void drive(int speed);  

// drive(), but with a delay(duration)
void drive(int speed, int duration);  

//currently not implemented
//void stop();           // Stop motors, but allow them to coast to a halt.
//void coast();          // Stop motors, but allow them to coast to a halt.

//Stops motor by setting both input pins high
void brake(); 

//set the chip to standby mode.  The drive function takes it out of standby 
//(forward, back, left, and right all call drive)
void standby(); 

//Takes 2 motors and goes forward, if it does not go forward adjust offset 
//values until it does.  These will also take a negative number and go backwards
//There is also an optional speed input, if speed is not used, the function will
//use the DEFAULTSPEED constant.
void forward(Motor motor1, Motor motor2, int speed);
void forward(Motor motor1, Motor motor2);

//Similar to forward, will take 2 motors and go backwards.  This will take either
//a positive or negative number and will go backwards either way.  Once again the
//speed input is optional and will use DEFAULTSPEED if it is not defined.
void back(Motor motor1, Motor motor2, int speed);
void back(Motor motor1, Motor motor2);

//Left and right take 2 motors, and it is important the order they are sent.
//The left motor should be on the left side of the bot.  These functions
//also take a speed value
void left(Motor left, Motor right, int speed);
void right(Motor left, Motor right, int speed);

//This function takes 2 motors and and brakes them
void brake(Motor motor1, Motor motor2);