I have run the program and it worked running the motor forward faster then at its peak slows it down again till it goes into a reverse direction and repeats this. If it is possible to run the motors directly from the arduino's pins I can try that out but will it overload the board? the motors are larger than a normal 3v hobby motor and are ones out of an old printer and do take a bit of power when no resistance is added. If there is resistance added will this help the Arduino run the motors without overloading the board? Thanks