const int LEFT_DIR_PIN = 7;
const int LEFT_SPEED_PIN = 6;
const int RIGHT_DIR_PIN = 4;
const int RIGHT_SPEED_PIN = 5;
const int FORWARD = HIGH;
const int BACKWARD = (FORWARD == HIGH) ? LOW : HIGH;

int speed = 100;
int turnSpeed = 100;
int turn90Ms = 400;  // впиши своё время из журнала
int turn180Ms = 800; // впиши своё время из журнала

void drive(int leftDir, int leftSpeed, int rightDir, int rightSpeed) {
  digitalWrite(LEFT_DIR_PIN, leftDir);
  digitalWrite(RIGHT_DIR_PIN, rightDir);
  analogWrite(LEFT_SPEED_PIN, leftSpeed);
  analogWrite(RIGHT_SPEED_PIN, rightSpeed);
}

void stopMotors() {
  analogWrite(LEFT_SPEED_PIN, 0);
  analogWrite(RIGHT_SPEED_PIN, 0);
}

void setupMotors() {
  pinMode(LEFT_DIR_PIN, OUTPUT);
  pinMode(LEFT_SPEED_PIN, OUTPUT);
  pinMode(RIGHT_DIR_PIN, OUTPUT);
  pinMode(RIGHT_SPEED_PIN, OUTPUT);
  stopMotors();
}

void forward(int ms) {
  drive(FORWARD, speed, FORWARD, speed);
  delay(ms);
  stopMotors();
}

void turnLeft() {
  drive(BACKWARD, turnSpeed, FORWARD, turnSpeed);
  delay(turn90Ms);
  stopMotors();
}

void turnRight() {
  drive(FORWARD, turnSpeed, BACKWARD, turnSpeed);
  delay(turn90Ms);
  stopMotors();
}

void turnAround() {
  drive(BACKWARD, turnSpeed, FORWARD, turnSpeed);
  delay(turn180Ms);
  stopMotors();
}

void setup() {
  setupMotors();
  delay(2000);

  for (int i = 0; i < 4; i++) {
    forward(1000);
    delay(300);
    turnLeft();
    delay(300);
  }
}

void loop() {
}