#include <Arduino.h>

int ENA=5;//connected to Arduino's port 5(output pwm)
int IN1=2;//connected to Arduino's port 2
int IN2=3;//connected to Arduino's port 3
int ENB=6;//connected to Arduino's port 6(output pwm)
int IN3=4;//connected to Arduino's port 4
int IN4=7;//connected to Arduino's port 7

void stop()
{
    digitalWrite(ENA,LOW);
    digitalWrite(ENB,LOW);//stop driving

}

void setup()
{
 pinMode(ENA,OUTPUT);//output
 pinMode(ENB,OUTPUT);
 pinMode(IN1,OUTPUT);
 pinMode(IN2,OUTPUT);
 pinMode(IN3,OUTPUT);
 pinMode(IN4,OUTPUT);
 stop();

}

void setTurnToSide(int side)
{
    if (side > 0)
    {
        digitalWrite(IN1,LOW);
        digitalWrite(IN2,HIGH);//setting motorA's directon
        digitalWrite(IN3,HIGH);
        digitalWrite(IN4,LOW);//setting motorB's directon
     }
     else
     {
         digitalWrite(IN1,HIGH);
        digitalWrite(IN2,LOW);//setting motorA's directon
        digitalWrite(IN3,LOW);
        digitalWrite(IN4,HIGH);//setting motorB's directon
     }
}

void start (int speed)
{
    analogWrite(ENA,speed);//start driving motorA
    analogWrite(ENB,speed);//start driving motorB

}


void loop()
{
 for (int i = 255; i > 0; i-=5)
 {
    setTurnToSide (1);
    start (i);
    delay(5000);
    stop();
    delay(100);
    setTurnToSide(0);
    start(i);
    delay(5000);
    stop();
    delay(100);
 }

}