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#define dir1PinL  2    //Motor direction
#define dir2PinL  4    //Motor direction
#define speedPinL 6    // Needs to be a PWM pin to be able to control motor speed

#define dir1PinR  7    //Motor direction
#define dir2PinR  8   //Motor direction
#define speedPinR 5    // Needs to be a PWM pin to be able to control motor speed
/*motor control*/
void go_Advance(void) //Forward
{
digitalWrite(dir1PinL, HIGH);
digitalWrite(dir2PinL,LOW);
digitalWrite(dir1PinR,HIGH);
digitalWrite(dir2PinR,LOW);
}
void go_Left(void) //Turn left
{
digitalWrite(dir1PinL, HIGH);
digitalWrite(dir2PinL,LOW);
digitalWrite(dir1PinR,LOW);
digitalWrite(dir2PinR,HIGH);
}
void go_Right(void) //Turn right
{
digitalWrite(dir1PinL, LOW);
digitalWrite(dir2PinL,HIGH);
digitalWrite(dir1PinR,HIGH);
digitalWrite(dir2PinR,LOW);
}
void go_Back(void) //Reverse
{
digitalWrite(dir1PinL, LOW);
digitalWrite(dir2PinL,HIGH);
digitalWrite(dir1PinR,LOW);
digitalWrite(dir2PinR,HIGH);
}
void stop_Stop() //Stop
{
digitalWrite(dir1PinL, LOW);
digitalWrite(dir2PinL,LOW);
digitalWrite(dir1PinR,LOW);
digitalWrite(dir2PinR,LOW);
}

/*set motor speed */
void set_Motorspeed(int speed_L,int speed_R)
{
analogWrite(speedPinL,speed_L);
analogWrite(speedPinR,speed_R);
}

//Pins initialize
void init_GPIO()
{
pinMode(dir1PinL, OUTPUT);
pinMode(dir2PinL, OUTPUT);
pinMode(speedPinL, OUTPUT);

pinMode(dir1PinR, OUTPUT);
pinMode(dir2PinR, OUTPUT);
pinMode(speedPinR, OUTPUT);
stop_Stop();
}

void setup()
{
init_GPIO();
go_Advance();//Forward
set_Motorspeed(255,255);
delay(5000);

go_Back();//Reverse
set_Motorspeed(255,255);
delay(5000);

go_Left();//Turn left
set_Motorspeed(255,255);
delay(5000);

go_Right();//Turn right
set_Motorspeed(255,255);
delay(5000);

stop_Stop();//Stop

}

void loop(){
}