#define LEFT_WHEEL_FORWARD 3
#define LEFT_WHEEL_REVERSE 2
#define RIGHT_WHEEL_FORWARD 4
#define RIGHT_WHEEL_REVERSE 5

void drive(char dir, int dist, int spacing)
{
  pinMode(LEFT_WHEEL_FORWARD,OUTPUT);
  pinMode(LEFT_WHEEL_REVERSE,OUTPUT);
  pinMode(RIGHT_WHEEL_FORWARD,OUTPUT);
  pinMode(RIGHT_WHEEL_REVERSE,OUTPUT);  
  switch(dir)
  {
    case 'f':
      digitalWrite(LEFT_WHEEL_FORWARD,1);
      digitalWrite(RIGHT_WHEEL_FORWARD,1);
      break;
    case 'b':
      digitalWrite(LEFT_WHEEL_REVERSE,1);
      digitalWrite(RIGHT_WHEEL_REVERSE,1);
      break;
    case 'l':
      digitalWrite(LEFT_WHEEL_FORWARD,1);
      break;
    case 'r':
      digitalWrite(RIGHT_WHEEL_FORWARD,1);
      break;
    case 'L':
      digitalWrite(LEFT_WHEEL_FORWARD,1);
      digitalWrite(RIGHT_WHEEL_REVERSE,1);
      break;
    case 'R':
      digitalWrite(RIGHT_WHEEL_FORWARD,1);
      digitalWrite(LEFT_WHEEL_REVERSE,1);
      break;
  }
  delay(dist*1000); 
  digitalWrite(LEFT_WHEEL_FORWARD,0);
  digitalWrite(LEFT_WHEEL_REVERSE,0);
  digitalWrite(RIGHT_WHEEL_FORWARD,0);
  digitalWrite(RIGHT_WHEEL_REVERSE,0);
  delay(spacing*1000); 
}

void setup()
{
  delay(2000);
  
  drive('f',2,1); 
  drive('b',1,1); 
  drive('L',3,1);
  drive('r',1,1);
  drive('f',3,0); 
}

void loop()
{
  
}