Hi, look at http://forum.arduino.cc/index.php/topic,148850.0.html
before you do anything else. particularly about using # code and posting your sketch.
Have you got a sketch that just controls your motors and makes them do what you want..
The method to make such interactive sketches is to develop each function as separate sketches, to prove that each feature works.
Then you one by one combine the sketches to make your functioning sketch.
Trying to write it all at once only leads to problems finding errors and faults in he sketch code
Also a CAD or picture of a handdrawn circuit will help as well.
Tom......... 