// Adafruit Motor shield library
// copyright Adafruit Industries LLC, 2009
// this code is public domain, enjoy!

#include <AFMotor.h>

// Create motor objects for motors 1 through 4
AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);

void setup() {
  Serial.begin(9600);  // Start serial communication
  Serial.println("Motor test!");

  // Set initial speed and release all motors
  motor1.setSpeed(200);
  motor2.setSpeed(200);
  motor3.setSpeed(200);
  motor4.setSpeed(200);

  motor1.run(RELEASE);
  motor2.run(RELEASE);
  motor3.run(RELEASE);
  motor4.run(RELEASE);
}

void loop() {
  uint8_t i;

  Serial.println("tick");

  // Run all motors forward with ramp-up and ramp-down
  runAllMotors(FORWARD);
  
  Serial.println("tock");

  // Run all motors backward with ramp-up and ramp-down
  runAllMotors(BACKWARD);

  Serial.println("tech");

  // Release all motors
  motor1.run(RELEASE);
  motor2.run(RELEASE);
  motor3.run(RELEASE);
  motor4.run(RELEASE);

  delay(1000);
}

// Function to ramp all motors in one direction
void runAllMotors(uint8_t direction) {
  motor1.run(direction);
  motor2.run(direction);
  motor3.run(direction);
  motor4.run(direction);

  // Ramp speed up
  for (uint8_t i = 0; i < 255; i++) {
    motor1.setSpeed(i);
    motor2.setSpeed(i);
    motor3.setSpeed(i);
    motor4.setSpeed(i);
    delay(10);
  }

  // Ramp speed down
  for (uint8_t i = 255; i != 0; i--) {
    motor1.setSpeed(i);
    motor2.setSpeed(i);
    motor3.setSpeed(i);
    motor4.setSpeed(i);
    delay(10);
  }
}