int const IN1 = 10; int const IN2 = 9; int const IN3 = 5; int const IN4 = 3; int const SL=12; int const SM=7; int const SR=2;

void setup() { // put your setup code here, to run once: pinMode(IN1,OUTPUT); pinMode(IN2,OUTPUT); pinMode(IN3,OUTPUT); pinMode(IN4,OUTPUT); pinMode(SL,INPUT); pinMode(SM,INPUT); pinMode(SR,INPUT); }

void moveForward(){ analogWrite(IN1,127); analogWrite(IN2,0); analogWrite(IN3,0); analogWrite(IN4,127); }

void moveBackward(){ analogWrite(IN1,0); analogWrite(IN2,127); analogWrite(IN3,127); analogWrite(IN4,0); } void moveRight(){ analogWrite(IN1,127); analogWrite(IN2,0);
analogWrite(IN3,127); analogWrite(IN4,0); } void moveLeft(){ analogWrite(IN1,0); analogWrite(IN2,127); analogWrite(IN3,0); analogWrite(IN4,127); }

void loop() { // put your main code here, to run repeatedly: // moveForward() ; while(1){ int l=digitalRead(SL); int m=digitalRead(SM); int r=digitalRead(SR); if(l==0 && m==1 && r==0){ moveForward(); delay(50); }

else if(l==1 && m==0 && r==0){
moveLeft(); // while moving forward 
delay(170);

}

else if((l==0 && m==0 && r==1)){
moveRight();  // while moving forward 
delay(50);
}

else if(l==1 && m==1 && r==0){
moveForward();
delay(50);
l=digitalRead(SL);
 m=digitalRead(SM);
 r=digitalRead(SR);
if(l==0 && m==0 && r==0){
  moveLeft();
  delay(900);
}
// delayMicroseconds(50);
}

else if(l==1 && m==1 && r==1){

moveRight();
delay(50);

 }

 

else if(l==0 && m==1 && r==1){
moveRight();
delay(50);
}

else if(l==0 && m==0 && r==0){
  moveRight();
  delay(50);
}

}

}