实现电机的滑行、正转、反转和制动，通过ＰＷＭ进行转速调制。驱动逻辑如下：

参考代码：

void MotoStart( uint32_t mode, uint32_t duty ) 
{      
    if( mode == MOTO_FORWARD ) 
    {   
    	MotoWakeup();       
        Moto_SetIn2GPIO(0);
        MotoPWM1_Start();
        Moto_SetDuty(mode,duty);
        Moto_SetIn1PWM();
    }
    else if( mode == MOTO_REVERSE ) 
    {   
        MotoWakeup();
        Moto_SetIn1GPIO(0);
        MotoPWM2_Start();
        Moto_SetDuty(mode,duty);
        Moto_SetIn2PWM(); 
    }
    else if( mode == MOTO_COAST ) 
    {
        Moto_SetIn1GPIO(0);
        Moto_SetIn2GPIO(0);
        //MotoPWM1_TriggerKill();
        MotoPWM_Stop(); 
        MotoSleep();
    }
    else  if( mode == MOTO_BRAKE )
    {   
        Moto_SetIn1GPIO(1);
        Moto_SetIn2GPIO(1);
        MotoPWM_Stop();
        MotoSleep(); 
    }
}