/*this works with both motors turning in unison, with the positive of each motor on the chip end of the motor connectors.
   * pin 12 goes to IN1, pin 8 goes to IN3. pin 12 & 8 are FORWARD when high and 9 & 13 LOW. 
   * see hookup image in lesson, I have the RIGHT motor going to MOTOR B
   */

void setup() {
  // put your setup code here, to run once:
  pinMode (13, OUTPUT); // setup our control pins as outputs.
  pinMode (12, OUTPUT);
  pinMode (11, OUTPUT);
  pinMode (10, OUTPUT);
  pinMode (9, OUTPUT);
  pinMode (8, OUTPUT);
  
}

void loop() {
  // put your main code here, to run repeatedly:
  //**start off with the first straight leg of the figure 8
  digitalWrite (12, HIGH); //set both right and left motors for forward rotation
  digitalWrite (13, LOW);  //we only do this once because we will never reverse a motor in this sketch.
  digitalWrite (8, HIGH);  // we will simply turn by varying the speeds of the two motors
  digitalWrite (9, LOW);
  //drive forward on PWM, attempt a straight line for half a second
  analogWrite (11, 125);
  analogWrite (10, 125);
  delay (500); //alter this delay time to change the distance traveled on your straight leg
  //first right turn in the figure 8, slow down motor "B"
  analogWrite (11, 125);
  analogWrite (10, 20);
  delay (2500); //alter this delay time to change how far the robot turns on the right turn
  //second straight leg, attempt a straight line for half a second
  analogWrite (11, 125);
  analogWrite (10, 125);
  delay (500); //alter this delay time to change the distance traveled on your straight leg
  //left turn to complete the figure 8, slow down motor "A"
analogWrite (11, 20);
  analogWrite (10, 125);
  delay (2500); //alter this delay time to change how far the robot turns on the left turn
  //now loop back to the first straight leg of the figure 8
}