Simple example of using motor driver QWIIC board from SparkFun

motor qwiic.ino

#include <Arduino.h>
#include <stdint.h>
#include "SCMD.h"
#include "SCMD_config.h" //Contains #defines for common SCMD register names and values
#include "Wire.h"

SCMD myMotorDriver; //This creates the main object of one motor driver and connected peripherals.

void setup()
{
  Serial.begin(9600);
  Serial.println("Starting sketch.");

  //***** Configure the Motor Driver's Settings *****//
  //  .commInter face is I2C_MODE 
  myMotorDriver.settings.commInterface = I2C_MODE;

  //  set address if I2C configuration selected with the config jumpers
  myMotorDriver.settings.I2CAddress = 0x5D; //config pattern is "1000" (default) on board for address 0x5D

  //  set chip select if SPI selected with the config jumpers
  myMotorDriver.settings.chipSelectPin = 10;

  //*****initialize the driver get wait for idle*****//
  while ( myMotorDriver.begin() != 0xA9 ) //Wait until a valid ID word is returned
  {
    Serial.println( "ID mismatch, trying again" );
    delay(500);
  }
  Serial.println( "ID matches 0xA9" );

  //  Check to make sure the driver is done looking for peripherals before beginning
  Serial.print("Waiting for enumeration...");
  while ( myMotorDriver.ready() == false );
  Serial.println("Done.");
  Serial.println();

  while ( myMotorDriver.busy() );
  myMotorDriver.enable(); //Enables the output driver hardware

}

#define MOTOR_NUM 1
void loop()
{
  //pass setDrive() a motor number, direction as 0(call 0 forward) or 1, and level from 0 to 255
  myMotorDriver.setDrive( MOTOR_NUM, 0, 255);
  delay(2000);
  myMotorDriver.setDrive( MOTOR_NUM, 0, 0); //Stop motor
  delay(2000);
  myMotorDriver.setDrive( MOTOR_NUM, 1, 255);
  delay(2000);
  myMotorDriver.setDrive( MOTOR_NUM, 0, 0); //Stop motor
  delay(2000);
}