#include <SparkFun_TB6612.h>

Motor motorRight = Motor(2,3,5,-1,12);  // In1A In2A PWMA Offset Standby
Motor motorLeft = Motor(8,9,10,-1,12);  // In1b In2B PWMB Offset Standby

//(1,1) (3,4) (6,6)Introduction example on cartesian graph (coordinates)
int y0 = 0;
int x0 = 0;
int x1 = 1;
int y1 = 1;
int x2 = 3;
int y2 = 4;
int x3 = 6;
int y3 = 6;

int motorDuration = 900;
int motorPower = 100;
int rotDurationLeft = 1275;
int rotDurationRight = 1240;
void setup() {
  // put your setup code here, to run once:
forward(motorLeft,motorRight,motorPower);  // Enables both motors set at a certain rate (100)
delay(motorDuration * x1 + x0); // Leaves motors on for a certain period of time
brake(motorLeft, motorRight);

left(motorLeft,motorRight,motorPower); // Turns motors in opposite direction to the left.
delay(rotDurationLeft);
brake(motorLeft, motorRight);

forward(motorLeft,motorRight,motorPower);  // Enables both motors set at a certain rate (100)
delay(200 * y2 - y1); // Leaves motors on for a certain period of time
brake(motorLeft, motorRight);

right(motorLeft,motorRight,motorPower); // Turns motors in opposite direction to the left.
delay(rotDurationRight);
brake(motorLeft, motorRight);

forward(motorLeft,motorRight,motorPower);  // Enables both motors set at a certain rate (100)
delay(525 * x2 - x1); // Leaves motors on for a certain period of time
brake(motorLeft, motorRight);

left(motorLeft,motorRight,motorPower); // Turns motors in opposite direction to the left.
delay(rotDurationLeft);
brake(motorLeft, motorRight);

forward(motorLeft,motorRight,motorPower);  // Enables both motors set at a certain rate (100)
delay(550 * y2 - y1); // Leaves motors on for a certain period of time
brake(motorLeft, motorRight);


right(motorLeft,motorRight,motorPower); // Turns motors in opposite direction to the left.
delay(rotDurationRight);
brake(motorLeft, motorRight);

forward(motorLeft,motorRight,motorPower+30);  // Enables both motors set at a certain rate (100)
delay(550 * x2 - x1); // Leaves motors on for a certain period of time
brake(motorLeft, motorRight);

left(motorLeft,motorRight,motorPower); // Turns motors in opposite direction to the left.
delay(rotDurationLeft);
brake(motorLeft, motorRight);

forward(motorLeft,motorRight,motorPower);  // Enables both motors set at a certain rate (100)
delay(525 * y2 - y1); // Leaves motors on for a certain period of time
brake(motorLeft, motorRight);


}

void loop() {
  // put your main code here, to run repeatedly:

}