#define Motor1_1 12
#define Motor1_2 13
#define Motor1_PWM 11
#define Motor2_1 8
#define Motor2_2 9
#define Motor2_PWM 10

void setup() {
pinMode(Motor1_1,OUTPUT);
pinMode(Motor1_2,OUTPUT);
pinMode(Motor1_PWM,OUTPUT);
pinMode(Motor2_1,OUTPUT);
pinMode(Motor2_2,OUTPUT);
pinMode(Motor2_PWM,OUTPUT);
}

void loop() {
dopredu(255);
delay(500);
dopredu(180);
delay(500);
dopredu(120);
delay(500);
otoc(-100);
delay(1000);
otoc(100);
delay(1000);
dozadu(255);
delay(3000);



}
void otoc (int smer)
{
  digitalWrite(Motor1_1,1);
  digitalWrite(Motor1_2,0);
  digitalWrite(Motor2_1,1);
  digitalWrite(Motor2_2,0);
  if (smer==0) {
    analogWrite(Motor1_PWM,255);
    analogWrite(Motor2_PWM,255);
  } else {
    if (smer>0) {
    analogWrite(Motor1_PWM,255);
    analogWrite(Motor2_PWM,smer);
    } else {
    analogWrite(Motor1_PWM,abs(smer));
    analogWrite(Motor2_PWM,255);
    }
  }
}
void dopredu(byte rychlost)
{
  digitalWrite(Motor1_1,1);
  digitalWrite(Motor1_2,0);
  analogWrite(Motor1_PWM,rychlost);
  digitalWrite(Motor2_1,1);
  digitalWrite(Motor2_2,0);
  analogWrite(Motor2_PWM,rychlost);
}

void dozadu(byte rychlost)
{
  digitalWrite(Motor1_1,0);
  digitalWrite(Motor1_2,1);
  analogWrite(Motor1_PWM,rychlost);
  digitalWrite(Motor2_1,0);
  digitalWrite(Motor2_2,1);
  analogWrite(Motor2_PWM,rychlost);
}