#define ENA_PIN  5   // Needs to be a PWM pin to be able to control motor speed
#define IN1_PIN  6   // Motor direction
#define IN2_PIN  7   // Motor direction
#define IN3_PIN  8   // Motor direction
#define IN4_PIN  9   // Motor direction
#define ENB_PIN 10   // Needs to be a PWM pin to be able to control motor speed

void go_Advance(int speed_L,int speed_R) { //Forward
	digitalWrite(IN1_PIN, HIGH);
	digitalWrite(IN2_PIN, LOW );
	digitalWrite(IN3_PIN, HIGH);
	digitalWrite(IN4_PIN, LOW );
	set_MotorSpeed(speed_L, speed_R);
}
void go_Left(int speed_L,int speed_R) { //Turn left
	digitalWrite(IN1_PIN, HIGH);
	digitalWrite(IN2_PIN, LOW );
	digitalWrite(IN3_PIN, LOW );
	digitalWrite(IN4_PIN, HIGH);
	set_MotorSpeed(speed_L, speed_R);
}
void go_Right(int speed_L,int speed_R) { //Turn right
	digitalWrite(IN1_PIN, LOW );
	digitalWrite(IN2_PIN, HIGH);
	digitalWrite(IN3_PIN, HIGH);
	digitalWrite(IN4_PIN, LOW );
	set_MotorSpeed(speed_L, speed_R);
}
void go_Back(int speed_L,int speed_R) { //Reverse
	digitalWrite(IN1_PIN, LOW );
	digitalWrite(IN2_PIN, HIGH);
	digitalWrite(IN3_PIN, LOW );
	digitalWrite(IN4_PIN, HIGH);
	set_MotorSpeed(speed_L, speed_R);
}
void stop_Stop() {  //Stop
	digitalWrite(IN1_PIN, LOW );
	digitalWrite(IN2_PIN, LOW );
	digitalWrite(IN3_PIN, LOW );
	digitalWrite(IN4_PIN, LOW );
}

void set_MotorSpeed(int speed_L,int speed_R) {
	analogWrite(ENB_PIN,speed_L);
	analogWrite(ENA_PIN,speed_R); 
}

//Pins initialize
void init_GPIO() {
	pinMode(IN1_PIN, OUTPUT);
	pinMode(IN3_PIN, OUTPUT);
	pinMode(IN2_PIN, OUTPUT);
	pinMode(IN4_PIN, OUTPUT);
	stop_Stop();
}

void setup() {
	init_GPIO();
	go_Advance(255,255);//Forward
	delay(2000);

	go_Back(255,255);//Reverse
	delay(2000);

	go_Left(255,255);//Turn left
	delay(2000);

	go_Right(255,255);//Turn right
	delay(2000);

	stop_Stop();//Stop
}

void loop(){}