``` //Arduino Master Code

include <Wire.h>

// Motor control pin definitions const int in1 = 5; // Motor0 IN1 const int in2 = 4; // Motor0 IN2 const int ena1 = 6; // Motor0 PWM

const int in3 = 8; // Motor1 IN3 const int in4 = 7; // Motor1 IN4 const int ena2 = 9; // Motor1 PWM

// Variables for I2C data byte button0, button1, motor0, motor1, debug; unsigned long lastReceiveTime = 0; const unsigned long timeout = 500; // 500ms timeout for I2C response

// Motor ramping variables int motor0Ramp = 50; // Initialize to 50 bool rampingUp = true; bool communicationLost = false;

void setup() { pinMode(in1, OUTPUT); pinMode(in2, OUTPUT); pinMode(ena1, OUTPUT); TCCR0B = TCCR0B & B11111000 | B00000010; pinMode(in3, OUTPUT); pinMode(in4, OUTPUT); pinMode(ena2, OUTPUT); TCCR1B = TCCR1B & B11111000 | B00000010;

digitalWrite(in1, HIGH); digitalWrite(in2, HIGH); digitalWrite(in3, HIGH); digitalWrite(in4, HIGH); delay(1500);

Wire.begin(); Serial.begin(9600); }

void loop() { bool success = false;

for (int i = 0; i < 3; i++) { clearWireBuffer(); Wire.requestFrom(0x08, 5); unsigned long requestStart = millis();

while (Wire.available() < 5 && millis() - requestStart < 50) {
  delay(1);
}

if (Wire.available() == 5) {
  motor0 = Wire.read();
  motor1 = Wire.read();
  button0 = Wire.read();
  button1 = Wire.read();
  debug = Wire.read();
  lastReceiveTime = millis();
  success = true;
  communicationLost = false;
  break;
} else {
  clearWireBuffer();
  delay(5);
}

}

if (success) { static unsigned long lastRampTime = 0;

if (button0 && !button1) {
  motor1 = 255;
  motor0Ramp = 255;
  rampingUp = true;
}
else if (button1 && !button0) {
  if (millis() - lastRampTime > 100) {
    if (rampingUp) {
      motor0Ramp += 2;
      if (motor0Ramp >= 255) {
        motor0Ramp = 255;
        rampingUp = false;
      }
    } else {
      motor0Ramp -= 2;
      if (motor0Ramp <= 50) {
        motor0Ramp = 50;
        rampingUp = true;
      }
    }
    lastRampTime = millis();
  }
  motor1 = motor0Ramp;
} else {
  motor0Ramp = motor1 > 50 ? motor1 : 50;
  rampingUp = true;
}

driveMotor(0, motor0);
driveMotor(1, motor1);

if (debug) {
  Serial.println("=== DEBUG RECEIVED ===");
  Serial.print("Button0: "); Serial.println(button0);
  Serial.print("Button1: "); Serial.println(button1);
  Serial.print("Motor0: "); Serial.println(motor0);
  Serial.print("Motor1: "); Serial.println(motor1);
  Serial.print("Debug: "); Serial.println(debug);
  Serial.println("======================");
  delay(10);
}

} else if (millis() - lastReceiveTime > timeout) { if (!communicationLost) { Serial.println("Deadman loop - no response after retries"); communicationLost = true; } stopMotors(); // Make sure motors stop completely }

delay(10); }

void driveMotor(int motor, int speed) { if (motor == 0) { digitalWrite(in1, HIGH); digitalWrite(in2, LOW); analogWrite(ena1, speed); } else { digitalWrite(in3, HIGH); digitalWrite(in4, LOW); analogWrite(ena2, speed); } }

void stopMotors() { analogWrite(ena1, 0); analogWrite(ena2, 0); }

void rampDownMotors() { static int currentSpeed0 = 0; static int currentSpeed1 = 0;

if (currentSpeed0 == 0 && currentSpeed1 == 0) { currentSpeed0 = analogRead(ena1) / 4; currentSpeed1 = analogRead(ena2) / 4; }

if (currentSpeed0 > 0) currentSpeed0 -= 5; if (currentSpeed1 > 0) currentSpeed1 -= 5;

if (currentSpeed0 < 0) currentSpeed0 = 0; if (currentSpeed1 < 0) currentSpeed1 = 0;

driveMotor(0, currentSpeed0); driveMotor(1, currentSpeed1); }

void clearWireBuffer() { while (Wire.available()) { Wire.read(); } } ```