#include <Stepper.h>
/* This Rugged Motor Shield application demonstrates basic DC motor control.
 *
 * Assumptions:
 *
 *   - two DC motors connected to the 2 motor outputs
 *   - 8V-30V supply connected to Vin (optional, else Arduino Vin is used)
 *   - Vin jumper is cut (J21) (only required if Vin>15V)
 *
 * The behavior is as follows:
 *
 *   - Motor 1 spins forward for 1 second
 *   - Motor 1 stops for 1 second
 *   - Motor 1 spins in reverse for 1 second
 *   - Motor 1 stops for 1 second
 *   - Motor 2 spins forward for 1 second
 *   - Motor 2 stops for 1 second
 *   - Motor 2 spins in reverse for 1 second
 *   - Motor 2 stops for 1 second
 *
 * The above motions repeat in an endless loop
 * 
 * This software is licensed under the GNU General Public License (GPL) Version
 * 3 or later. This license is described at
 * http://www.gnu.org/licenses/gpl.html
 *
 * Application Version 1.0 -- October 2010 Rugged Circuits LLC
 * http://www.ruggedcircuits.com
 */
 
// Enable (PWM) outputs
#define EN1_PIN 3
#define EN2_PIN 11

// Direction outputs
#define DIR1_PIN 12
#define DIR2_PIN 13

void setup()
{
  // Configure all outputs off for now
  pinMode(EN1_PIN, OUTPUT); digitalWrite(EN1_PIN, LOW);
  pinMode(EN2_PIN, OUTPUT); digitalWrite(EN2_PIN, LOW);
  pinMode(DIR1_PIN, OUTPUT); digitalWrite(DIR1_PIN, LOW);
  pinMode(DIR2_PIN, OUTPUT); digitalWrite(DIR2_PIN, LOW);

  // Both motors off for now
  analogWrite(EN1_PIN, 0);
  analogWrite(EN2_PIN, 0);

}

void loop()
{
  digitalWrite(DIR1_PIN, LOW);  // Set Motor 1 forward direction
  analogWrite(EN1_PIN, 255);    // Motor 1 on in forward direction
  delay(1000);

  analogWrite(EN1_PIN, 0);      // Motor 1 off
  delay(1000);

  digitalWrite(DIR1_PIN, HIGH); // Set Motor 1 reverse direction
  analogWrite(EN1_PIN, 255);    // Motor 1 on in reverse direction
  delay(1000);

  analogWrite(EN1_PIN, 0);      // Motor 1 off
  delay(1000);

  digitalWrite(DIR2_PIN, LOW);  // Set Motor 2 forward direction
  analogWrite(EN2_PIN, 255);    // Motor 2 on in forward direction
  delay(1000);

  analogWrite(EN2_PIN, 0);      // Motor 2 off
  delay(1000);

  digitalWrite(DIR2_PIN, HIGH); // Set Motor 2 reverse direction
  analogWrite(EN2_PIN, 255);    // Motor 2 on in reverse direction
  delay(1000);

  analogWrite(EN2_PIN, 0);      // Motor 2 off
  delay(1000);
}