Rebelstudios:
Only i hope it will fit in de memory of the arduino becouse with 0nly 1 motor it says:Sketch uses 16730 bytes (54%) of program storage space. Maximum is 30720 bytes.
Global variables use 753 bytes (36%) of dynamic memory, leaving 1295 bytes for local variables. Maximum is 2048 bytes.
From a very brief look, the huge size for a small task is because it is a pretty crap program. I have a program that communicates wirelessly and controls a a DC motor with a PID feedback loop which uses about 5k of program memory and 330 bytes for global variables.
It is not a good idea to use the String (capital S) class on an Arduino as it can cause memory corruption in the small memory on an Arduino. Just use cstrings - char arrays terminated with 0.
...R