#include <FastLED.h>
//motor pins
#define M2A 17
#define M2B 16
#define M1A 19
#define M1B 18

// LED 
#define NUM_LEDS 2
CRGB leds[NUM_LEDS];
#define WSLED 4


//LEDs on
void ledsOn() {
  for (int i = 0; i < NUM_LEDS; i++) {
  leds[i] = CRGB::Red;
 
  }
  
  FastLED.show();


}

//LEDs off
void ledsOff() {
  for (int i = 0; i < NUM_LEDS; i++) {
  leds[i] = CRGB::Black;
  
  }
  FastLED.show();

}

//B and A low 
void off() {
  digitalWrite(M2B, LOW);
  digitalWrite(M2A, LOW);
  digitalWrite(M1B, LOW);
  digitalWrite(M1A, LOW);
}


//B high A low
void reverse() {
  digitalWrite(M2B, HIGH); 
  digitalWrite(M2A, LOW); 
  digitalWrite(M1B, HIGH); 
  digitalWrite(M1A, LOW); 

}

//B low A high
void forward() {
  digitalWrite(M2B, LOW);
  digitalWrite(M2A, HIGH);
  digitalWrite(M1B, LOW);
  digitalWrite(M1A, HIGH); 

}

// M2 high/low M1 high/low
void cw() {
  digitalWrite(M2B, HIGH);
  digitalWrite(M2A, LOW);
  digitalWrite(M1B, LOW); 
  digitalWrite(M1A, HIGH); 


}

//B high A low in M1 opposite M2
void ccw() {
  digitalWrite(M2B, LOW);
  digitalWrite(M2A, HIGH); 
  digitalWrite(M1B, HIGH); 
  digitalWrite(M1A, LOW); 


}

void setup() {
  //motor control output
  pinMode(M1A, OUTPUT);
  pinMode(M1B, OUTPUT);
  pinMode(M2A, OUTPUT);
  pinMode(M2B, OUTPUT);
  
  FastLED.addLeds<NEOPIXEL, WSLED>(leds, NUM_LEDS);  

  }

void loop() {
  const unsigned long turnDuration = 200; // turn duration
  const unsigned long blinkInterval = 50; // blink
  const int numTurns = 4; // b2b turns

  // left and right 4 times
  for (int i = 0; i < numTurns; i++) {
    ccw();
    ledsOn(); 
   
    delay(turnDuration);
    
    ledsOff(); 
 
    cw();
    ledsOn(); 
   
    delay(turnDuration);
    
    ledsOff();
  }
//spin in circle
  unsigned long startTime = millis();
  unsigned long currentTime;
  const unsigned long spinDuration = 3000; //spin length

  cw(); 


  while ((currentTime = millis()) - startTime < spinDuration) {
    
    ledsOn(); 
    delay(blinkInterval / 2); 
    ledsOff(); 
    delay(blinkInterval / 2);
  
  }

  off(); 
  ledsOff(); 
  delay(500);


}