//pmw pins
const int FmotorL = 3;
const int FmotorR = 5;
const int BmotorL = 6;
const int BmotorR = 9;

//F = Front, B = Back, L = Left, R = Right
void setup()
{
  pinMode(FmotorL, OUTPUT);
  pinMode(FmotorR, OUTPUT);
  pinMode(BmotorL, OUTPUT);
  pinMode(BmotorR, OUTPUT);
}

//testing of all the drone maneuvers
void loop()
{
  ascend();
  delay(1000);
  forward();
  delay(1000);
  leftRoll();
  delay(1000);
  rightRoll();
  delay(1000);
  backward();
  delay(1000);
  leftYaw();
  delay(1000);
  rightYaw();
  delay(1000);
  descend();
  delay(1000);
}

void ascend()
{
  analogWrite(FmotorL, 255);
  analogWrite(FmotorR, 255);
  analogWrite(BmotorL, 255);
  analogWrite(BmotorR, 255);
}
void descend() 
{
  analogWrite(FmotorL, 51);
  analogWrite(FmotorR, 51);
  analogWrite(BmotorL, 51);
  analogWrite(BmotorR, 51);
}
void forward()
{
  analogWrite(FmotorL, 127);
  analogWrite(FmotorR, 127);
  analogWrite(BmotorL, 255);
  analogWrite(BmotorR, 255);
}
void backward()
{
  analogWrite(FmotorL, 255);
  analogWrite(FmotorR, 255);
  analogWrite(BmotorL, 127);
  analogWrite(BmotorR, 127);
}
void leftYaw()
{
  analogWrite(FmotorL, 255);
  analogWrite(FmotorR, 127);
  analogWrite(BmotorL, 127);
  analogWrite(BmotorR, 255);
}
void rightYaw()
{
  analogWrite(FmotorL, 127);
  analogWrite(FmotorR, 255);
  analogWrite(BmotorL, 255);
  analogWrite(BmotorR, 127);
}
void leftRoll()
{
  analogWrite(FmotorL, 127);
  analogWrite(FmotorR, 255);
  analogWrite(BmotorL, 127);
  analogWrite(BmotorR, 255);
}
void rightRoll()
{
  analogWrite(FmotorL, 255);
  analogWrite(FmotorR, 127);
  analogWrite(BmotorL, 255);
  analogWrite(BmotorR, 127);
}