--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sea/sea.ino	Sat Jul 11 15:20:05 2015 +0930
@@ -0,0 +1,75 @@
+#include <Wire.h>
+#include <Adafruit_MotorShield.h>
+#include "utility/Adafruit_PWMServoDriver.h"
+
+// Orange	- Vertical M2+
+// White/orange - Vertical M2-
+// Green        - Left M3+
+// White/green  - Left M3-
+// Blue         - Right M1+
+// White/blue   - Right M1-
+// Brown        - RS485 B
+// Brown/white  - RS485 A
+
+// Motor shield object at default address
+Adafruit_MotorShield AFMS = Adafruit_MotorShield();
+
+// Motor objects
+Adafruit_DCMotor *leftMotor = AFMS.getMotor(3);
+Adafruit_DCMotor *rightMotor = AFMS.getMotor(1);
+Adafruit_DCMotor *vertMotor = AFMS.getMotor(2);
+
+void setup() {
+	Serial.begin(115200);
+
+	AFMS.begin();	// Start at default frequency
+}
+
+int
+parseIn(char dir) {
+	int tmp;
+
+	while (Serial.read() != dir)
+		;
+	while (Serial.read() != ':')
+		;
+	tmp = Serial.parseInt();
+
+	return tmp;
+}
+
+void loop() {
+	int tmp;
+
+	Serial.println("Parsing L...");
+	tmp = parseIn('L');
+	if (tmp > 0)
+		leftMotor->run(FORWARD);
+	else
+		leftMotor->run(BACKWARD);
+	leftMotor->setSpeed(abs(tmp));
+
+	Serial.println("Parsing R...");
+	tmp = parseIn('R');
+	if (tmp > 0)
+		rightMotor->run(FORWARD);
+	else
+		rightMotor->run(BACKWARD);
+	rightMotor->setSpeed(abs(tmp));
+
+	Serial.println("Parsing V...");
+	tmp = parseIn('V');
+	if (tmp > 0)
+		vertMotor->run(FORWARD);
+	else
+		vertMotor->run(BACKWARD);
+	vertMotor->setSpeed(abs(tmp));
+
+	Serial.println("Done");
+}
+
+/*
+ * Local variables:
+ * mode: c++
+ * End:
+ */