code.txt

#define in1 9
#define in2 8
#define in3 7
#define in4 6
#define enA 10
#define enB 5


 int M1_Speed = 70; 
 int M2_Speed = 80; 
 int LeftRotationSpeed = 250; 
 int RightRotationSpeed = 250; 


 void setup() {

  pinMode(in1,OUTPUT);
  pinMode(in2,OUTPUT);
  pinMode(in3,OUTPUT);
  pinMode(in4,OUTPUT);

    pinMode(enA,OUTPUT);
    pinMode(enB,OUTPUT);

      pinMode(A0, INPUT); 
      pinMode(A1, INPUT); 

}

void loop() {

  int LEFT_SENSOR = digitalRead(A0);
  int RIGHT_SENSOR = digitalRead(A1);

if(RIGHT_SENSOR==0 && LEFT_SENSOR==0) {
    forward(); 
}

  else if(RIGHT_SENSOR==0 && LEFT_SENSOR==1) {
    right(); 
 }

  else if(RIGHT_SENSOR==1 && LEFT_SENSOR==0) {
    left(); 
}

  else if(RIGHT_SENSOR==1 && LEFT_SENSOR==1) {
    Stop();  
 }
}



void forward()
{
            digitalWrite(in1, HIGH);
            digitalWrite(in2, LOW);
            digitalWrite(in3, HIGH);
            digitalWrite(in4, LOW);

                analogWrite(enA, M1_Speed);
                analogWrite(enB, M2_Speed);
}

void backward()
{
            digitalWrite(in1, LOW);
            digitalWrite(in2, HIGH);
            digitalWrite(in3, LOW);
            digitalWrite(in4, HIGH);

                analogWrite(enA, M1_Speed);
                analogWrite(enB, M2_Speed);
}

void right()
{
            digitalWrite(in1, LOW);
            digitalWrite(in2, HIGH);
            digitalWrite(in3, HIGH);
            digitalWrite(in4, LOW);
                analogWrite(enA, LeftRotationSpeed);
                analogWrite(enB, RightRotationSpeed);
}

void left()
{
            digitalWrite(in1, HIGH);
            digitalWrite(in2, LOW);
            digitalWrite(in3, LOW);
            digitalWrite(in4, HIGH);

                analogWrite(enA, LeftRotationSpeed);
                analogWrite(enB, RightRotationSpeed);
}

void Stop()
{
            digitalWrite(in1, LOW);
            digitalWrite(in2, LOW);
            digitalWrite(in3, LOW);
            digitalWrite(in4, LOW);
}