const int EnablePinDir = 10; 
  const int EnablePinMotor = 6; 
  const int LogicPin1Dir = 11; 
  const int LogicPin2Dir = 12; 
  const int LogicPin1Motor = 8; 
  const int LogicPin2Motor = 9; 
  #define trigPin 5 
  #define echoPin 3 
   
  void ileri() 
  { 
    digitalWrite(LogicPin1Motor, LOW); 
    digitalWrite(LogicPin2Motor, HIGH); 
    digitalWrite(EnablePinMotor, HIGH); 
  } 
   
  void geri(){ 
    digitalWrite(LogicPin1Motor, HIGH); 
    digitalWrite(LogicPin2Motor, LOW); 
    digitalWrite(EnablePinMotor, HIGH); 
  } 
   
  void sag() 
  { 
    digitalWrite(LogicPin1Dir, LOW); 
    digitalWrite(LogicPin2Dir, HIGH); 
    digitalWrite(EnablePinDir, HIGH); 
  } 
   
  void sol() 
  { 
    digitalWrite(LogicPin1Dir, HIGH); 
    digitalWrite(LogicPin2Dir, LOW); 
    digitalWrite(EnablePinDir, HIGH); 
  } 
   
  void dur() 
  { 
    digitalWrite(LogicPin1Motor, LOW); 
    digitalWrite(LogicPin2Motor, LOW); 
    digitalWrite(EnablePinMotor, LOW); 
  } 
   
  void setup(){ 
  Serial.begin(9600); 
    pinMode(EnablePinDir, OUTPUT); 
    pinMode(EnablePinMotor, OUTPUT); 
    pinMode(LogicPin1Dir, OUTPUT); 
    pinMode(LogicPin2Dir, OUTPUT); 
    pinMode(LogicPin1Motor, OUTPUT); 
    pinMode(LogicPin2Motor, OUTPUT); 
    pinMode(trigPin, OUTPUT); 
    pinMode(echoPin, INPUT); 
  } 
   
  void loop(){ 
   
  /************************************************************************************************************/ 
  if (Serial.available() > 0) { 
  char tus = (char)Serial.read(); 
  if( tus == 'w' ) 
  ileri(); 
  if( tus == 's' ) 
  geri(); 
  if( tus == 'a' ) 
  sol(); 
  if( tus == 'd' ) 
  sag(); 
  if( tus == 'x' ) 
  dur(); 
   } 
   }