ArduinoSimpleRobot

// Motor Controls
const int PWMELPin = 10; //  Enable PWM Left Motor
const int PWMERPin = 11; // Enable PWM Right Motor
const int L1Pin = 6; //   L1 = Left Motor Lead 1
const int L2Pin = 7; //   L2 = Left Motor Lead 2
const int L3Pin = 4; //   L3 = Right Motor Lead 1
const int L4Pin = 5; //   L4 = Right Motor Lead 2
const int LEDPin = 13; //   Telltale LED
const int Duration = 2000;
void setup()
{
    pinMode(PWMELPin, OUTPUT);
    pinMode(PWMERPin, OUTPUT);
    pinMode(L1Pin, OUTPUT);
    pinMode(L2Pin, OUTPUT);
    pinMode(L3Pin, OUTPUT);
    pinMode(L4Pin, OUTPUT);
    pinMode(LEDPin, OUTPUT);
    delay(10000);
}

//Main Loop 
void loop()
{
    MotorL(1, 1);
    MotorR(1, 1);
    delay(3000);
    digitalWrite(LEDPin, HIGH);
    MotorL(0, 1);
    MotorR(0, 1);
    delay(200);
    MotorL(1, 1);
    MotorR(0, 1);
    delay(100);
}

// ***********************************************************************
// Motor Driver Routines**************************************************
// ***********************************************************************
// Function(Direction, Speed)
// Direction
// 1=Forward
// 0= Reverse
// Speed
// 1 = High/250
// 0 = Low/20
// ***********************************************************************
void MotorL(int Direction, int Speed)
{
    // Left Motor 
    if (Speed == 1)
    {
        analogWrite(PWMELPin, 250);
    }
    else
    {
        analogWrite(PWMELPin, 20);
    }
    if (Direction == 1)
    {
        digitalWrite(L1Pin, HIGH);
        digitalWrite(L2Pin, LOW);
    }
    else
    {
        digitalWrite(L1Pin, LOW);
        digitalWrite(L2Pin, HIGH);
    }
}

// ***********************************************************************
void MotorR(int Direction, int Speed)
{
    // Right Motor 
    if (Speed == 1)
    {
        analogWrite(PWMERPin, 250);
    }
    else
    {
        analogWrite(PWMERPin, 20);
    }
    if (Direction == 1)
    {
        digitalWrite(L3Pin, HIGH);
        digitalWrite(L4Pin, LOW);
    }
    else
    {
        digitalWrite(L3Pin, LOW);
        digitalWrite(L4Pin, HIGH);
    }
}

// ***********************************************************************