// Define motor pins
int motor1 = 9; // Motor 1 pin
int motor2 = 10; // Motor 2 pin
int motor3 = 11; // Motor 3 pin
int motor4 = 12; // Motor 4 pin

// Function declarations
void spinMotors(int speed);
void stopMotors();
void spinMotorsReverse(int speed);

void setup() {
  // Initialize motor pins as output
  pinMode(motor1, OUTPUT);
  pinMode(motor2, OUTPUT);
  pinMode(motor3, OUTPUT);
  pinMode(motor4, OUTPUT);
}

void loop() {
  // Motors spin at a constant speed
  spinMotors(255); // 255 is the maximum speed (0-255)

  delay(5000); // Drone runs for 5 seconds

  // Motors stop
  stopMotors();

  delay(2000); // Pause for 2 seconds

  // Motors spin in the opposite direction
  spinMotorsReverse(255);

  delay(5000); // Drone runs in reverse for 5 seconds

  // Motors stop
  stopMotors();

  delay(2000); // Pause for 2 seconds
}

// Function to spin all motors at a given speed
void spinMotors(int speed) {
  analogWrite(motor1, speed);
  analogWrite(motor2, speed);
  analogWrite(motor3, speed);
  analogWrite(motor4, speed);
}

// Function to spin all motors in the opposite direction at a given speed
void spinMotorsReverse(int speed) {
  analogWrite(motor1, 255 - speed);
  analogWrite(motor2, 255 - speed);
  analogWrite(motor3, 255 - speed);
  analogWrite(motor4, 255 - speed);
}

// Function to stop all motors
void stopMotors() {
  analogWrite(motor1, 0);
  analogWrite(motor2, 0);
  analogWrite(motor3, 0);
  analogWrite(motor4, 0);
}