This code can be used to configure direction and speed of a bot on Arduino.

motionTest.ino

int TxPin=10;
int RxPin=11;
int LMotor1=5;
int LMotor2=3;
int RMotor1=6;
int RMotor2=9;

void setup()
{
  Serial.begin(9600);
  pinMode(3,OUTPUT);
  pinMode(5,OUTPUT);
  pinMode(6,OUTPUT);
  pinMode(9,OUTPUT);
}

void right()
{
      Serial.println("Moves Right");
      analogWrite(RMotor1,100);
      analogWrite(RMotor2,0);
      analogWrite(LMotor1,255);
      analogWrite(LMotor2,0);
}

void rmotor(int dir,int spee)
{
      if(dir==1)//clockwise
      {
        analogWrite(RMotor1,spee);
        digitalWrite(RMotor2,LOW); 
      }
      if(dir==2)//Anticlockwise
      {
        digitalWrite(RMotor1,LOW);
        analogWrite(RMotor2,spee);
      }
}

void lmotor(int dir,int spee)
{
     if(dir==1)//clockwise
     {
       digitalWrite(LMotor2,LOW);
       analogWrite(LMotor1,spee);
     }
     if(dir==2)//Anticlockwise
     {
       digitalWrite(LMotor1,LOW);
       analogWrite(LMotor2,spee);
     }
}

void mov(int spee1,int spee2)
{
  rmotor(1,spee1);
  lmotor(2,spee2);
}

void loop()
{
      //Straight
      //mov(227,230);
      //Left
      //mov(250,135);
      //Right
      mov(140,250);
      delay(100);
}