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int incomingByte = 0;
int dirbpinB = 7; // up&down Direction pin for motor B is Digital 12
int speedbpinB = 6; // up&down Speed pin for motor B is Digital 9 (PWM)
int dirbpinA =4; //left&right Direction pin for motor A is Digital 13int
speedbpinA = 5; //left&right Speed pin for motor A is Digital 10 (PWM)
int speedB = 255;  //Speed  up&down
int speedA = 255; //Speed left&right
int up = 0; //up 
int dw = 1; //dw
int lf = 0;  //left
int rg = 1;  //right
void setup()
{
pinMode(dirbpinA, OUTPUT);
pinMode(dirbpinB, OUTPUT);
Serial.begin(9600);
}
void loop()
{
if (Serial.available() > 0)
{    // read the incoming byte:   
incomingByte = Serial.read();       
switch (incomingByte)
{   
case '1': // up     
digitalWrite(dirbpinB, up);     
analogWrite(speedbpinB, speedB);     
delay(100);     
break;   
case '2': //down     
digitalWrite(dirbpinB, dw);     
analogWrite(speedbpinB, speedB);     
delay(100);     
break;   
case '3': //left     
digitalWrite(dirbpinA, lf);     
analogWrite(speedbpinA, speedA);     
delay(100);     
break;   
case '4': //right     
digitalWrite(dirbpinA, rg);     
analogWrite(speedbpinA, speedA);     
delay(100);     
break; 
}
}
else
{   
analogWrite(speedbpinA, 0);
analogWrite(speedbpinB, 0);
}
}

// start updating positions
tmrUpdateStick.Enabled = true;

if (!sp.IsOpen)
{
sp.PortName = "COM12";
sp.BaudRate = 9600;

try
{
sp.Open();
}
catch
{

}

}
}

private void tmrUpdateStick_Tick(object sender, EventArgs e)
{
// get status
jst.UpdateStatus();

// update the axes positions
foreach (Control ax in flpAxes.Controls)
{
if (ax is Axis)
{
switch (((Axis)ax).AxisId)
{
case 1:
((Axis)ax).AxisPos = jst.AxisA;
break;
case 2:
((Axis)ax).AxisPos = jst.AxisB;
break;
case 3:
((Axis)ax).AxisPos = jst.AxisC;
if (jst.AxisC == 65535)
{ sp.Write("4"); }
if (jst.AxisC == 0)
{ sp.Write("3"); }
break;
case 4:
((Axis)ax).AxisPos = jst.AxisD;
if (jst.AxisD == 65535)
{ sp.Write("1"); }
if (jst.AxisD == 0)
{ sp.Write("2"); }
break;