The arduino robot does not move backwards. How to fix?

Question

Arduino

Arduino problem. There is a robot, there is a program, but for some reason it does not go back. How to fix?
I control via a gamepad, a bluetooth crossbar, a gamepad from ps 2.

spoiler

Код

#include 

PS2X ps2x; 

//right now, the library does NOT support hot-pluggable controllers, meaning 
//you must always either restart your Arduino after you connect the controller, 
//or call config_gamepad(pins) again after connecting the controller.
#define SPEED_1      5 
#define DIR_1        4
 
#define SPEED_2      6
#define DIR_2        7

int error = 0; 
byte type = 0;
byte vibrate = 0;

void setup(){
 Serial.begin(57600);

  
 error = ps2x.config_gamepad(13,11,10,12, true, true);   //GamePad(clock, command, attention, data, Pressures?, Rumble?) 

 if(error == 0){
   Serial.println("Found Controller, configured successful");
   Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
  Serial.println("holding L1 or R1 will print out the analog stick values.");
  Serial.println("Go to www.billporter.info for updates and to report bugs.");
 }
   
  else if(error == 1)
   Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
   
  else if(error == 2)
   Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
   
  else if(error == 3)
   Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
      
   type = ps2x.readType(); 
     switch(type) {
       case 0:
        Serial.println("Unknown Controller type");
       break;
       case 1:
        Serial.println("DualShock Controller Found");
       break;
       case 2:
         Serial.println("GuitarHero Controller Found");
       break;
     }
  
}

void loop(){
   /* You must Read Gamepad to get new values
   Read GamePad and set vibration values
   ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
   if you don't enable the rumble, use ps2x.read_gamepad(); with no values
   
   you should call this at least once a second
   */
   
 if(error == 1) 
  return; 
  
 if(type == 2){ 
   
   ps2x.read_gamepad();          //read controller 
   
   if(ps2x.ButtonPressed(GREEN_FRET))
     Serial.println("Green Fret Pressed");
   if(ps2x.ButtonPressed(RED_FRET))
     Serial.println("Red Fret Pressed");
   if(ps2x.ButtonPressed(YELLOW_FRET))
     Serial.println("Yellow Fret Pressed");
   if(ps2x.ButtonPressed(BLUE_FRET))
     Serial.println("Blue Fret Pressed");
   if(ps2x.ButtonPressed(ORANGE_FRET))
     Serial.println("Orange Fret Pressed");
     

    if(ps2x.ButtonPressed(STAR_POWER))
     Serial.println("Star Power Command");
    
    if(ps2x.Button(UP_STRUM))          //will be TRUE as long as button is pressed
     Serial.println("Up Strum");
    if(ps2x.Button(DOWN_STRUM))
     Serial.println("DOWN Strum");
  
 
    if(ps2x.Button(PSB_START))                   //will be TRUE as long as button is pressed
         Serial.println("Start is being held");
    if(ps2x.Button(PSB_SELECT))
         Serial.println("Select is being held");

    
    if(ps2x.Button(ORANGE_FRET)) // print stick value IF TRUE
    {
        Serial.print("Wammy Bar Position:");
        Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); 
    } 
 }

 else { //DualShock Controller
  
    ps2x.read_gamepad(false, vibrate);          //read controller and set large motor to spin at 'vibrate' speed
    
    if(ps2x.Button(PSB_START))                   //will be TRUE as long as button is pressed
         Serial.println("Start is being held");
    if(ps2x.Button(PSB_SELECT))
         Serial.println("Select is being held");
         
         
     if(ps2x.Button(PSB_PAD_UP)) {         //will be TRUE as long as button is pressed
       Serial.print("Up held this hard: ");
       Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
// устанавливаем направление мотора «M1» в одну сторону
  digitalWrite(DIR_1, LOW);
  // включаем мотор на максимальной скорости
  analogWrite(SPEED_1, 255);
  // ждём одну секунду


  // устанавливаем направление мотора «M2» в одну сторону
  digitalWrite(DIR_2, LOW);
  // включаем второй мотор на максимальной скорости
  analogWrite(SPEED_2, 255);
  // ждём одну секунду
  delay(60);
   // выключаем второй мотор
  analogWrite(SPEED_2, 0);
  // ждём одну секунду
 analogWrite(SPEED_1, 0);
  
      }
      if(ps2x.Button(PSB_PAD_RIGHT)){
       Serial.print("Right held this hard: ");
        Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
         // устанавливаем направление мотора «M1» в одну сторону
  digitalWrite(DIR_1, LOW);
  // включаем мотор на максимальной скорости
  analogWrite(SPEED_1, 255);
  // ждём одну секунду


   // устанавливаем направление мотора «M2» в другую сторону
  digitalWrite(DIR_2, HIGH);
  // ждём одну секунду
  delay(60);
   // выключаем второй мотор
  analogWrite(SPEED_2, 0);
  // ждём одну секунду
 analogWrite(SPEED_1, 0);
 

      }
      if(ps2x.Button(PSB_PAD_LEFT)){
       Serial.print("LEFT held this hard: ");
        Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
        // устанавливаем направление мотора «M2» в одну сторону
  digitalWrite(DIR_2, LOW);
  // включаем второй мотор на максимальной скорости
  analogWrite(SPEED_2, 255);
  // ждём одну секунду


  // устанавливаем направление мотора «M1» в другую сторону
  digitalWrite(DIR_1, HIGH);
  // ждём одну секунду
  delay(60);
   // выключаем второй мотор
  analogWrite(SPEED_2, 0);
  // ждём одну секунду
 analogWrite(SPEED_1, 0);
               
      }
      if(ps2x.Button(PSB_PAD_DOWN)){
       Serial.print("DOWN held this hard: ");
     Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
       // устанавливаем направление мотора «M1» в другую сторону
  digitalWrite(DIR_1, LOW);
  // ждём одну секунду
    analogWrite(SPEED_1, 255);
  delay(60);

     // устанавливаем направление мотора «M2» в другую сторону
  digitalWrite(DIR_2, LOW);
  // ждём одну секунду
    analogWrite(SPEED_2, 255);
  delay(60);
   // выключаем второй мотор
  analogWrite(SPEED_2, 0);
  // ждём одну секунду
 analogWrite(SPEED_1, 0);

  
    
      }
  
  
    
      vibrate = ps2x.Analog(PSAB_BLUE);        //this will set the large motor vibrate speed based on 
                                              //how hard you press the blue (X) button    
    
    if (ps2x.NewButtonState())               //will be TRUE if any button changes state (on to off, or off to on)
    {   
        if(ps2x.Button(PSB_L3))
         Serial.println("L3 pressed");
        if(ps2x.Button(PSB_R3))
         Serial.println("R3 pressed");
        if(ps2x.Button(PSB_L2))
         Serial.println("L2 pressed");
        if(ps2x.Button(PSB_R2))
         Serial.println("R2 pressed");
        if(ps2x.Button(PSB_GREEN))
         Serial.println("Triangle pressed");
         
    }   
         
    
    if(ps2x.ButtonPressed(PSB_RED))             //will be TRUE if button was JUST pressed
         Serial.println("Circle just pressed");
         
    if(ps2x.ButtonReleased(PSB_PINK))             //will be TRUE if button was JUST released
         Serial.println("Square just released")
        
         ;     
    
    if(ps2x.NewButtonState(PSB_BLUE))            //will be TRUE if button was JUST pressed OR released
         Serial.println("X just changed");    
    
    
    if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) // print stick values if either is TRUE
    {
        Serial.print("Stick Values:");
        Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX  
        Serial.print(",");
        Serial.print(ps2x.Analog(PSS_LX), DEC); 
        Serial.print(",");
        Serial.print(ps2x.Analog(PSS_RY), DEC); 
        Serial.print(",");
        Serial.println(ps2x.Analog(PSS_RX), DEC); 
    } 
    
    
 }
 
 
 delay(50);
     
}

Answer 1

You have the same direction of rotation by pressing the up and down buttons

if(ps2x.Button(PSB_PAD_UP)) {
  // ***
  // устанавливаем направление мотора «M1» в одну сторону
  digitalWrite(DIR_1, LOW);  // <<<<<
  // ***
}

if(ps2x.Button(PSB_PAD_RIGHT)){...}
if(ps2x.Button(PSB_PAD_LEFT)){...}

if(ps2x.Button(PSB_PAD_DOWN)){
  // ***
  // устанавливаем направление мотора «M1» в другую сторону
  digitalWrite(DIR_1, LOW); // <<<<< 
  // ***
}

Answer 2

It's hard to look at unformatted code (and part of the first line is lost). Comments about "waiting for one second" are thrown in general from the bulldozer where it is necessary and where it is not necessary, they only confuse. Therefore, I see at least one obviously unnecessary delay - when processing the "back" button between turning on the first and second motors.
Well, you need to describe the problem more precisely. "Does not go back" - what happens when you press the "back" button?
And further. The code has an output of debugging information to the serial port. When you press the "back" button, the corresponding message is displayed?