1. //L293D
2. //Motor A (left)
3. #define MOTOR_PIN1 9 // Pin 2 of L293
4. #define MOTOR_PIN2 10 // Pin 7 of L293
5. //const int MOTOR_PIN1  = 9;  // Pin 2 of L293
6. //const int MOTOR_PIN2  = 10;  // Pin 7 of L293
7. //Motor B (right)
8. #define MOTOR_PIN3 11 // Pin  10 of L293
9. #define MOTOR_PIN4 12 // Pin  15 of L293
10. //const int MOTOR_PIN3  = 11; // Pin  10 of L293
11. //const int MOTOR_PIN4  = 12;  // Pin  15 of L293
12.  
13. #define TIME_WAIT 7200 //10sec
14.  
15. void setup() {
16.   //Set pins as outputs
17.   pinMode(MOTOR_PIN1, OUTPUT);
18.   pinMode(MOTOR_PIN2, OUTPUT);
19.   pinMode(MOTOR_PIN3, OUTPUT);
20.   pinMode(MOTOR_PIN4, OUTPUT);
21. }
22.  
23. void motor_a_stop() {
24.   digitalWrite(MOTOR_PIN1, LOW);
25.   digitalWrite(MOTOR_PIN2, LOW);
26. }
27.  
28. void motor_a_forward() {
29.   digitalWrite(MOTOR_PIN1, LOW);
30.   digitalWrite(MOTOR_PIN2, HIGH);
31. }
32.  
33. void motor_a_backward() {
34.   digitalWrite(MOTOR_PIN1, HIGH);
35.   digitalWrite(MOTOR_PIN2, LOW);
36. }
37.  
38. void motor_b_stop() {
39.   digitalWrite(MOTOR_PIN3, LOW);
40.   digitalWrite(MOTOR_PIN4, LOW);
41. }
42.  
43. void motor_b_forward() {
44.   digitalWrite(MOTOR_PIN3, LOW);
45.   digitalWrite(MOTOR_PIN4, HIGH);
46. }
47.  
48. void motor_b_backward() {
49.   digitalWrite(MOTOR_PIN3, HIGH);
50.   digitalWrite(MOTOR_PIN4, LOW);
51. }
52.  
53. void left_stop() {
54.   motor_a_stop();
55. }
56.  
57. void right_stop() {
58.   motor_b_stop();
59. }
60.  
61. void stop() {
62.   left_stop();
63.   right_stop();
64. }
65.  
66. void left_forward() {
67.   motor_a_backward();
68. }
69.  
70. void left_backward() {
71.   motor_a_forward();
72. }
73.  
74. void right_forward() {
75.   motor_b_forward();
76. }
77.  
78. void right_backward() {
79.   motor_b_backward();
80. }
81.  
82. void forward() {
83.   left_forward();
84.   right_forward();
85. }
86.  
87. void backward() {
88.   left_backward();
89.   right_backward();
90. }
91.  
92. void left_rotate() {
93.   left_backward();
94.   right_forward();
95. }
96.  
97. void right_rotate() {
98.   left_forward();
99.   right_backward();
100. }
101.  
102. void left_circle() {
103.   left_stop();
104.   right_forward();
105. }
106.  
107. void right_circle() {
108.   right_stop();
109.   left_forward();
110. }
111.  
112. void wait() {
113.   delay(TIME_WAIT);
114.   stop();
115. }
116.  
117. void loop() {
118.   forward();
119.   wait();
120.   backward();
121.   wait();
122.   left_rotate();
123.   wait();
124.   right_rotate();
125.   wait();
126.   left_circle();
127.   wait();
128.   right_circle();
129.   wait();
130.   stop();
131.   delay(1800);
132. }