Arduino RFID et moteur

// Pin                      Pin  
// MFRC522 board            Arduino Uno  
// RST                      9
// SDA                      10
// MOSI                     11
// MISO                     12
// SCK                      13
// GND                      GND
// Vcc                      3.3V                    
// IRQ                      Non connecté
#include <SPI.h>
#include <MFRC522.h>
#define SS_PIN 10
#define RST_PIN 9
MFRC522 mfrc522(SS_PIN, RST_PIN);  // Create MFRC522 instance.
pinMode(4,OUTPUT); // Branche la led sur le port 4.
void setup() {
  Serial.begin(9600); // Initialize serial communications with the PC
  SPI.begin();      // Init SPI bus
  mfrc522.PCD_Init(); // Init MFRC522 card
}
void loop() {  
 // Look for new cards
 if ( ! mfrc522.PICC_IsNewCardPresent()) 
return;
digitalWrite(4,HIGH);
delay(3000);
digitalWrite(4,LOW);
}

const int controlPin1 = 2;
const int controlPin2 = 3;
const int enablePin = 9;
const int directionSwitchPin= 4;
const int onOffSwitchStateSwitchPin = 5;
const int potPin = A0;
int onOffSwitchState = 0;
int previousOnOffSwitchState = 0;
int directionSwitchState = 0;
int previousDirectionSwitchState = 0;
int motorEnabled = 0;
int motorSpeed= 0;
int motorDirection = 1;

void setup() {
 pinMode(directionSwitchPin, INPUT);
 pinMode(onOffSwitchStateSwitchPin, INPUT);
 pinMode(controlPin1, OUTPUT);
 pinMode(controlPin2, OUTPUT);
 pinMode(enablePin, OUTPUT);
 digitalWrite(enablePin, LOW);
}

void loop() {
  onOffSwitchState =
    digitalRead(onOffSwitchStateSwitchPin);
  delay(1);
  directionSwitchState =
    digitalRead(directionSwitchPin);
  motorSpeed = analogRead(potPin)/4;
  if(onOffSwitchState != previousOnOffSwitchState){
    if(onOffSwitchState == HIGH){
      motorEnabled = !motorEnabled;
    }
  }
   if(directionSwitchState != previousDirectionSwitchState) {
    if(directionSwitchState== HIGH) {
      motorDirection == !motorDirection;
    }
  } 
  if(motorDirection == 1) {
    digitalWrite(controlPin1, HIGH);
    digitalWrite(controlPin2, LOW);
  }
  else {
    digitalWrite(controlPin1, LOW);
    digitalWrite(controlPin2, HIGH);
  }
  if(motorEnabled == 1) {
    analogWrite(enablePin, motorSpeed);
  }
  else {
    analogWrite(enablePin, 0);
  }
  previousDirectionSwitchState =
    directionSwitchState;
  previousOnOffSwitchState = onOffSwitchState;
}