[bombadier337]

You could do something like this

in user_routines_fast

timer++;
if(timer<300)
{
pwm11=255;
pwm12=0;
}
else if(timer<310)
{
relay4_fwd=1;
}
else if(timer<320)
{
relay5_fwd=1;
relay4_fwd=0;
}
else if(timer<440)
{
pwm12=255;
pwm11=0;
}

BUT, you'll probably have to change the pwm's around to make it go forward. Also, you never said if you wanted the relays on fwd or rev. Also, all the times are only approximate, and relay4_fwd is only on for 1/6 of a second and relay5_fwd stays on forever, once relay4_fwd turns off. Hope that helps or gets you started.

Also, i just used arbitrarily 60 cycles as one second, which is wrong, so don't trust that.