# include <Wire.h>

#define ADDR1 0x64

void setup(){
 delay(1000);
 Serial.begin(115200);
 Serial.println();
 Serial.println("setup start");

 Serial.println("I2C configuration");
 Wire.begin(4, 14);
 delay(40);

 pinMode(12,OUTPUT);
 digitalWrite(12,HIGH);

 Serial.println("setup end.");
 start_motor();
 }

 void loop() {
  start_motor();
  delay(3000);
  stop_motor();
  reverse_motor();
  delay(3000);
  stop_motor();
 }

void start_motor(){

        char i,volt;
        volt = 0x0C;
        for(i=0;i<4;i++){

                volt = volt + ( (0x10) << i );
                volt = volt | 0x01;
                motor_func(ADDR1,volt);
                Serial.printf("volt:0x%x vset:0x%x\n",volt,volt>>2);
                delay(10);
        }
}

void reverse_motor(){

        char i,volt;
        volt = 0x0C;
        for(i=0;i<4;i++){

                volt = volt + ( (0x10) << i);
                volt = volt | 0x02;
                motor_func(ADDR1,volt);
                delay(10);
        }
}

void stop_motor(){

        motor_func(ADDR1,0x18);
        delay(10);
        motor_func(ADDR1,0x1B);
        delay(10);
}

void motor_func(char add, char duty){
 Wire.beginTransmission(add);
 Wire.write(0x00);
 Wire.write(duty);
 Wire.endTransmission(true);
}