PIC16F877-L298-Motor-Motor-Control

// Function to set PWM duty cycles for both motors
void setPWMDutyCycle(int speedA, int speedB) {
    CCPR1L = (unsigned char)speedA; // Set PWM duty cycle for Motor A
    CCPR2L = (unsigned char)speedB; // Set PWM duty cycle for Motor B
}

// Function to run Motor A
void runMotorA(int direction, int speed) {
    setPWMDutyCycle(speed, CCPR2L); // Update PWM for Motor A
    if (direction == FORWARD) {
        IN1 = 1; // Forward direction
        IN2 = 0;
    } else if (direction == BACKWARD) {
        IN1 = 0; // Backward direction
        IN2 = 1;
    }
}

// Function to run Motor B
void runMotorB(int direction, int speed) {
    setPWMDutyCycle(CCPR1L, speed); // Update PWM for Motor B
    if (direction == FORWARD) {
        IN3 = 1; // Forward direction
        IN4 = 0;
    } else if (direction == BACKWARD) {
        IN3 = 0; // Backward direction
        IN4 = 1;
    }
}

// Function to stop both motors
void stopMotors() {
    CCPR1L = 0; // Stop Motor A
    CCPR2L = 0; // Stop Motor B
    IN1 = 0;    // Turn off Motor A
    IN2 = 0;
    IN3 = 0;    // Turn off Motor B
    IN4 = 0;
}