//define the control pins of the motors

//motor A
int enableA = 10;
int IN1 = 9;
int IN2 = 8;

//motor B
int enableB = 5;
int IN3 = 7;
int IN4 = 6;

#define maximumSpeed 250

String readString;

void setup() {
//set all the motor control pins to output

pinMode (enableA, OUTPUT);

pinMode (enableB, OUTPUT);
pinMode (IN1, OUTPUT);
pinMode (IN2, OUTPUT);
pinMode (IN3, OUTPUT);
pinMode (IN4, OUTPUT);

Serial.begin(9600);
}

void loop() {
while(Serial.available()){
delay(50);
char c = Serial.read();
readString+=c;
}

if(readString.length() > 0) {
Serial.println(readString);

if(readString == "FORWARD"){
moveForward();
}

if(readString == "BACK"){
moveBack();
}

if(readString == "LEFT"){
turnLeft();
}

if(readString == "RIGHT"){
turnRight();
}

if(readString == "STOP"){
stopMotors();
}

readString = "";
 }
}

void moveForward(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);

// accelerate from zero to maximum speed

for(int motorSpeed = 0; motorSpeed < maximumSpeed; motorSpeed++){
analogWrite(enableA, motorSpeed);
analogWrite(enableB, motorSpeed);
}
}

void moveBack(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);

for(int motorSpeed = 0; motorSpeed < maximumSpeed; motorSpeed++){

analogWrite(enableA, motorSpeed);
analogWrite(enableB, motorSpeed);
}
}

void turnLeft(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);

for(int motorSpeed = 0; motorSpeed < maximumSpeed; motorSpeed++){

analogWrite(enableA, motorSpeed);
analogWrite(enableB, motorSpeed);
}
}

void turnRight(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);

for(int motorSpeed = 0; motorSpeed < maximumSpeed; motorSpeed++){

analogWrite(enableA, motorSpeed);
analogWrite(enableB, motorSpeed);
}
}

void stopMotors(){
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, LOW);
}