H bridges, minor failure and troubleshooting

When I left off last time, I was raring to go with some sample PID code that allowed me to test out a basic movement between two points. I realised I hadn't included any wiring, and that's important for this post. Suffice to say, the code didn't work quite as I had intended, but not for obvious reasons. By that, I mean I spent hours trying to debug what was going on without success. Instead, I had to break out the oscilloscope and measure to find out what was really happening.