4 Motor motor shield code.

I built a 4 Dc motor Robot. No Servos just DC Motor only.  I have this code that runs all 4 motors But Motor  M2 is having issues…..I’m using a Ps2x Controller to run it. Motors M1,M3 And M4 Work Just fine. But M2 Runs forward But Won’t run backward when I press the ps2 controller button.    Please someone .Take a look at this code to see what the issue could be…I’ don’t see one.    The motor shield works just fine when i test the M1-M4, Connections Separately. SEE CODE:

#include <Wire.h>
#include “PS2X_lib.h”
#include “Adafruit_MotorShield.h”
#include “Adafruit_MS_PWMServoDriver.h”

#define TRIGGER_PIN A0
#define ECHO_PIN A1
#define SPEED 255

Adafruit_MotorShield AFMS = Adafruit_MotorShield();
PS2X ps2x;
//Ultrasonic ultrasonic(TRIGGER_PIN, ECHO_PIN);

long ARM_MIN[] = {10, 10, 40, 10};
long ARM_MAX[] = {170, 140, 170, 102};

Adafruit_Servo *Servo1 = AFMS.getServo(1);
Adafruit_Servo *Servo2 = AFMS.getServo(2);
Adafruit_Servo *Servo3 = AFMS.getServo(3);
Adafruit_Servo *Servo4 = AFMS.getServo(4);
Adafruit_DCMotor *DCMotor_1 = AFMS.getMotor(1);
Adafruit_DCMotor *DCMotor_3 = AFMS.getMotor(3);
Adafruit_DCMotor *DCMotor_4 = AFMS.getMotor(4);
Adafruit_DCMotor *DCMotor_2 = AFMS.getMotor(2);

//Grab something
void openGripper() {
Servo4->writeServo(ARM_MIN[3]);
delay(300);
}

void closeGripper() {
Servo4->writeServo(ARM_MAX[3]);
delay(300);
}

void setup() {
AFMS.begin(50);
int error = 0;
do {
error = ps2x.config_gamepad(13, 11, 10, 12, true, true);
if (error == 0) {
break;
} else {
delay(100);
}
} while (1);
Servo1->writeServo(90);
Servo2->writeServo(90);
Servo3->writeServo(90);
Servo4->writeServo(60);
}

void loop() {
ps2x.read_gamepad(false, 0);
if (ps2x.Button(PSB_PAD_UP)) {
DCMotor_3->setSpeed(SPEED);
DCMotor_4->setSpeed(SPEED);
if (ps2x.Button(PSB_L1)) {
DCMotor_3->setSpeed(0);
}
if (ps2x.Button(PSB_R1)) {
DCMotor_4->setSpeed(0);
}
DCMotor_3->run(FORWARD);
DCMotor_4->run(FORWARD);
} else if (ps2x.Button(PSB_PAD_DOWN)) {
DCMotor_3->setSpeed(SPEED);
DCMotor_4->setSpeed(SPEED);
if (ps2x.Button(PSB_L1)) {
DCMotor_3->setSpeed(0);
}
if (ps2x.Button(PSB_R1)) {
DCMotor_4->setSpeed(0);
}
DCMotor_3->run(BACKWARD);
DCMotor_4->run(BACKWARD);
} else if (ps2x.Button(PSB_PAD_LEFT)) {
DCMotor_3->setSpeed(SPEED);
DCMotor_3->run(BACKWARD);
DCMotor_4->setSpeed(SPEED);
DCMotor_4->run(FORWARD);
} else if (ps2x.Button(PSB_PAD_RIGHT)) {
DCMotor_3->setSpeed(SPEED);
DCMotor_3->run(FORWARD);
DCMotor_4->setSpeed(SPEED);
DCMotor_4->run(BACKWARD);
} else {
DCMotor_3->setSpeed(0);
DCMotor_3->run(RELEASE);
DCMotor_4->setSpeed(0);
DCMotor_4->run(RELEASE);
}

if (ps2x.Button(PSB_CROSS)) {
ps2x.read_gamepad(true, 200);
delay(300);
ps2x.read_gamepad(false, 0);
}
if (ps2x.Button(PSB_R2)) {
DCMotor_1->setSpeed(SPEED);
DCMotor_1->run(BACKWARD);
} else if (ps2x.ButtonReleased(PSB_R2)) {
DCMotor_1->setSpeed(0);
DCMotor_1->run(RELEASE);
}
if (ps2x.Button(PSB_L2)) {
DCMotor_1->setSpeed(SPEED);
DCMotor_1->run(FORWARD);
} else if (ps2x.ButtonReleased(PSB_L2)) {
DCMotor_1->setSpeed(0);
DCMotor_1->run(RELEASE);
}

if (ps2x.Button(PSB_CROSS)) {
ps2x.read_gamepad(true, 200);
delay(300);
ps2x.read_gamepad(false, 0);

if (ps2x.Button(PSB_CROSS))
DCMotor_2->setSpeed(SPEED);
DCMotor_2->run(BACKWARD);
} else if (ps2x.ButtonReleased(PSB_CROSS))
DCMotor_2->setSpeed(0);
DCMotor_2->run(RELEASE);

if (ps2x.Button(PSB_TRIANGLE)){
DCMotor_2->setSpeed(SPEED);
DCMotor_2->run(FORWARD);
} else if (ps2x.ButtonReleased(PSB_TRIANGLE))
DCMotor_2->setSpeed(0);
DCMotor_2->run(RELEASE);
}