Non-blocking DC Motor?

Please advice on a good/accurate way to implement non-blocking DC motor driver? I am using SN754410NE. Thank you in advance for the help/pointers.

int motor_1[] = {6,7}; // motor

void setup() {
  pinMode(motor_1[0], OUTPUT);
  pinMode(motor_1[1], OUTPUT);
}

void loop() {
  motorForward();
  delay(8000);  // <------------ some kind of time check
  motorStop();
  
  motorBackward();
  delay(8000); // <------------ some kind of time check
  motorStop();
}

void motorForward() {
  digitalWrite(motor_1[0], HIGH);
  digitalWrite(motor_1[1], LOW);
}

void motorBackward() {
  digitalWrite(motor_1[0], LOW);
  digitalWrite(motor_1[1], HIGH);
}

void motorStop() {
  digitalWrite(motor_1[0], LOW);
  digitalWrite(motor_1[1], LOW);
}

See the BlinkWithoutDelay tutorial.

thak you thank. I am rather embarrassed to have overlooked. Thanks again.