const int En1=12,En2=13;                //initializing enable pins

const int in1=15, in2=2, in3=0, in4=4;  //initializing input pins

int count=0;

void setup()

{

  // channel A

  pinMode(En1,OUTPUT);

  pinMode(in1,OUTPUT);

  pinMode(in2,OUTPUT);

  // channel B

  pinMode(En2,OUTPUT);

  pinMode(in3,OUTPUT);

  pinMode(in4,OUTPUT);

}

void loop() {

   digitalWrite(En1,HIGH); //enabling motor1

   digitalWrite(En2,LOW);

  // Motor 1 clockwise rotation

  while(count!=100)             //motor1 keep rotating for 1 minute in clockwise direction

  {

    digitalWrite(in1,HIGH);

    digitalWrite(in2,LOW);

    delay(600);

    count++;

  }

count=0;

  //Motor1 anticlockwise rotation

  while(count!=100)            //motor1 keep rotating for 1 minute in anti-clockwise direction

  {

    digitalWrite(in1,LOW);

    digitalWrite(in2,HIGH);

    delay(600);

    count++;

  }

count=0;

    digitalWrite(in1,LOW);  //to stop motor1

    digitalWrite(in2,LOW);

    delay(100);

   digitalWrite(En1,LOW);   //enabling Motor 2

   digitalWrite(En2,HIGH);

// Motor 2 clockwise rotation

  while(count!=100)           //motor2 keep rotating for 1 minute in clockwise direction

  {

    digitalWrite(in3,HIGH);

    digitalWrite(in4,LOW);

    delay(600);

    count++;

  }

  count=0;

  //Motor2 anticlockwise rotation

  while(count!=100)         //motor2 keep rotating for 1 minute in anti-clockwise direction

  {

    digitalWrite(in3,LOW);

    digitalWrite(in4,HIGH);

    delay(600);

    count++;

  }

  //to stop motor2

    digitalWrite(in3,LOW);  //to stop motor2

    digitalWrite(in4,LOW);

    delay(100);

}