#include <SoftwareSerial.h>
#include <Wire.h>
#define RE 7
#define DE 8
 
#define RE2 2
#define DE2 3
 
const byte O1[] = {0x01 ,0x03 ,0x00 ,0x00 ,0x00 ,0x02 ,0xC4 ,0x0B};
const byte O2[] = {0x01 ,0x03 ,0x00 ,0x00 ,0x00 ,0x02 ,0xC4 ,0x0B};
 
byte values[20];
byte values2[20];
SoftwareSerial mod(10, 11); // RO / DI
SoftwareSerial mod2(5, 6); // RO / DI
 
void setup() {
  Serial.begin(4800);
  mod.begin(4800);
  mod2.begin(4800);
  pinMode(RE, OUTPUT);
  pinMode(DE, OUTPUT);
  pinMode(RE2, OUTPUT);
  pinMode(DE2, OUTPUT);
}
 
void loop() {
  int val1 = 0 ; // SPEED
  int val2 = 0 ; // DIR

  Calculate();
  //val1 = ((values[5]*256)+values[6]);
  val1 = values[4];
  Serial.print("speed: ");
  Serial.println(val1);

  delay(1000);

  Calculate2();
  val2 = values2[4];
  Serial.print("dir: ");
  Serial.println(val2);

  delay(1000);
}
 
byte Calculate() {
  digitalWrite(DE, HIGH);
  digitalWrite(RE, HIGH);
  delay(10);
  if (mod.write(O1, sizeof(O1)) == 8) {
    digitalWrite(DE, LOW);
    digitalWrite(RE, LOW);
    for (byte i = 0; i < 11; i++) {
      //Serial.print(mod.read(),HEX);
      values[i] = mod.read();
      Serial.print(values[i]);
      Serial.print(" ");
    }
  }
  Serial.println(" ");
}


byte Calculate2() {
  digitalWrite(DE2, HIGH);
  digitalWrite(RE2, HIGH);
  delay(10);
  if (mod2.write(O2, sizeof(O2)) == 8) {
    digitalWrite(DE2, LOW);
    digitalWrite(RE2, LOW);
    for (byte i = 0; i < 11; i++) {
      //Serial.print(mod2.read(),HEX);
      values2[i] = mod2.read();
      //Serial.print(values2[i]);
      //Serial.print(" ");
    }
  }
  Serial.println(" ");
}