#include <Servo.h>
Servo lMotor, rMotor;
// servo motor PWM pins
const uint8_t rightMotorPin = 5;
const uint8_t leftMotorPin = 6;

const uint8_t spdBoost = 0; // ?? maybe used to adjust differences in motor speed ??
                            // alternate may be just to get the motor running
const uint8_t turnTime = 0;

void motorsInit() {
   lMotor.attach(leftMotorPin);
   rMotor.attach(rightMotorPin);
}
// right and left servos are going to spin in opposite directions
// so the forward and reverse functions will apply alternate value ranges
// test and use the forward or backwards (notional) settings

void rightMotorForward(uint8_t spd) {
  spd = map(spd, 0, 255, 90, 0);
  rMotor.write(spd);
}
void rightMotorBackward(uint8_t spd) {
  spd = map(spd, 0, 255, 90, 180);
  rMotor.write(spd);
}
void rightMotorOff() {
  rMotor.write(90); // not used
}
void leftMotorForward(uint8_t spd) {
  spd = map(spd, 0, 255, 90, 180);
  lMotor.write(spd);
}
void leftMotorBackward(uint8_t spd) {
  spd = map(spd, 0, 255, 90, 0);
  lMotor.write(spd);
}
void leftMotorOff() {
  lMotor.write(90); // not used
}

void runMotors(int16_t leftSpd, int16_t rightSpd) {
  if(leftSpd >= 0) {
    leftMotorForward(constrain(leftSpd, 0, 255));
  } else {
    leftMotorBackward(constrain(abs(leftSpd), 0, 255));
  }
  if(rightSpd >= 0) {
    rightMotorForward(constrain(rightSpd, 0, 255));
  } else {
    rightMotorBackward(constrain(abs(rightSpd), 0, 255));
  }

}
// motorsOff() not used
void motorsOff() {
  rMotor.write(90);
  lMotor.write(90);
}