Sketch code

//Arduino PWM Контроль скорости：
int E1 = 6;
int M1 = 7;
int E2 = 5;
int M2 = 4;

#define DELAY 2
#define PWR 200

void
MotorsOff()
{
analogWrite(E1, 0); //PWM Speed Control
analogWrite(E2, 0); //PWM Speed Control

}

void
Step0()
{
// 0
digitalWrite(M1,HIGH);
analogWrite(E1, PWR); //PWM Speed Control

digitalWrite(M2, HIGH);
analogWrite(E2, 0); //PWM Speed Control
delay(DELAY);
}
void
Step1()
{
// 1
digitalWrite(M1,HIGH);
analogWrite(E1, PWR); //PWM Speed Control

digitalWrite(M2, HIGH);
analogWrite(E2, PWR); //PWM Speed Control
delay(DELAY);
}
void
Step2()
{
// 2
digitalWrite(M1,HIGH);
analogWrite(E1, 0); //PWM Speed Control

digitalWrite(M2, HIGH);
analogWrite(E2, PWR); //PWM Speed Control
delay(DELAY);
}
void
Step3()
{
// 3
digitalWrite(M1,LOW);
analogWrite(E1, PWR); //PWM Speed Control

digitalWrite(M2, HIGH);
analogWrite(E2, PWR); //PWM Speed Control
delay(DELAY);
}
void
Step4()
{
// 4
digitalWrite(M1,LOW);
analogWrite(E1, PWR); //PWM Speed Control

digitalWrite(M2, HIGH);
analogWrite(E2, 0); //PWM Контроль скорости
delay(DELAY);
}
void
Step5()
{
// 5
digitalWrite(M1,LOW);
analogWrite(E1, PWR); //PWM Контроль скорости

digitalWrite(M2, LOW);
analogWrite(E2, PWR); //PWM Контроль скорости
delay(DELAY);
}
void
Step6()
{
// 6
digitalWrite(M1,LOW);
analogWrite(E1, 0); //PWM Контроль скорости

digitalWrite(M2, LOW);
analogWrite(E2, PWR); //PWM Контроль скорости
delay(DELAY);
}
void
Step7()
{
// 7
digitalWrite(M1,HIGH);
analogWrite(E1, PWR); //PWM Контроль скорости

digitalWrite(M2, LOW);
analogWrite(E2, PWR); //PWM Контроль скорости
delay(DELAY);
}

#define NUM_STEPS 8

int *steps[NUM_STEPS] = {(int *)Step0,(int *)Step1,(int *)Step2,(int *)Step3,(int *)Step4,(int *)Step5,(int *)Step6,(int *)Step7};


void setup()
{
pinMode(M1, OUTPUT);
pinMode(M2, OUTPUT);
}

void loop()
{
int i;
void (*j)();

for (i = 0; i < 450; i++)
{

j = (void (*)())steps[i % NUM_STEPS];

(*j)();
}

MotorsOff();
delay(1000);

for (i = 450; i > 0; i--)
{

j = (void (*)())steps[i % NUM_STEPS];

(*j)();
}


}