Setup.ino

void setup() {
//  Serial.begin(19200);
//  Serial.println("Initialisation!");
  pinMode(  LED, OUTPUT);
  //Data Direction Setup for MC33887 control:
  pinMode(_FS_L,  INPUT); //Set Left  Fail    Status   pin as  input
  pinMode(_FS_R,  INPUT); //Set Right Fail    Status   pin as  input
  pinMode(IN1_L, OUTPUT); //Set Left  First   Input    pin as output
  pinMode(IN1_R, OUTPUT); //Set Right First   Input    pin as output
  pinMode(IN2_L, OUTPUT); //Set Left  Second  Input    pin as output
  pinMode(IN2_R, OUTPUT); //Set Right Second  Input    pin as output
  pinMode(   EN, OUTPUT); //Set Both  Enable           pin as output 
  pinMode( FB_L,  INPUT); //Set Left  Current Feedback pin as  input
  pinMode( FB_R,  INPUT); //Set Right Current Feedback pin as  input
  //Data Direction Setup for Sensors:
  pinMode(SHARP_SL,  INPUT_PULLUP); //Set SHARP 340K of the Left  Side  pin as input
  pinMode(SHARP_FL,  INPUT_PULLUP); //Set SHARP 340K of the Front Left  pin as input
  pinMode(SHARP_FR,  INPUT_PULLUP); //Set SHARP 340K of the Front Right pin as input
  pinMode(SHARP_SR,  INPUT_PULLUP); //Set SHARP 340K of the Right Side  pin as input
  pinMode(  TCRT_L,  INPUT_PULLUP); //Set Left  TCRT1000 pin as input
  pinMode(  TCRT_R,  INPUT_PULLUP); //Set Right TCRT1000 pin as input
  pinMode(    RECV,  INPUT); //Set IR receiver signal pin as input
  pinMode(  SWITCH,  INPUT); //Set Two microswitches with R-2R ladder output pin as input
  pinMode(     BAT,  INPUT); //Set battery reference as input (V_bat/3/V_ref*1024)
  
  setPwmFrequency(5, 8);            //Set Pulse Width Modulation Frequency to 16MHz/256/8=7812.5Hz on pins 5 and 6
  irrecv.enableIRIn();              //Start the IR receiver
  CommandValue = EEPROM.read(CommandAddress);
  STOP = CommandValue + 0x100;
  START = STOP + 1;
  StateValue = EEPROM.read(StateAddress);
//  Serial.println(StateValue);
  switch(StateValue){
    case POWERON: break;
    case STARTED: startCommand(); break;
    case STOPPED: stopCommand(); break;
  }
}