Implementing Independent Speed Control for Dual DC Motors with Arduino and H-Bridge Motor Driver

morning ! I'm currently working on an Arduino project where I'm trying to control the speed and direction of two DC motors simultaneously. I've connected the motors to an H-bridge motor driver, and the basic forward and backward motion is working fine. However, I'm struggling to implement speed control for each motor independently. Can anyone guide me on how to achieve individual speed control for both motors using Arduino?
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