int fPinA = 2;

// Forward for motor A (left)

int rPinA = 3;

// Reverse for motor A (Left)

int fPinB = 4;

// Forward for motor B (Right)

int rPinB = 5;

// Reverse for motor B (Right)

int sagsharp;
int solsharp;

int sagsharpanalog=1;
int solsharpanalog=0;

void setup()

{delay(3700);
pinMode(sagsharpanalog,INPUT);
pinMode(solsharpanalog,INPUT);
pinMode( fPinA, OUTPUT );
pinMode( rPinA, OUTPUT );
pinMode( fPinB, OUTPUT );
pinMode( rPinB, OUTPUT );
Serial.begin(9600);

void loop()

{
//delay(4000);
int sensorValue = analogRead(A2);
// Convert the analog reading (which goes from 0 - 1023) to a voltage (0 - 5V):

float solqtr = sensorValue * (5.0 / 1023.0);

// print out the value you read:
//Serial.println(solqtr);
delay(20);
int sensorValue1 = analogRead(A3);
// Convert the analog reading (which goes from 0 - 1023) to a voltage (0 - 5V):
float sagqtr = sensorValue1 * (5.0 / 1023.0);
// print out the value you read:
// Serial.println(sagqtr);
delay(20);

sagsharp=analogRead(sagsharpanalog);
//Serial.println(sagsharp);
delay(20);

solsharp=analogRead(solsharpanalog);
Serial.println(solsharp);
delay(20);

if((solqtr>=1.6)&&(sagqtr>=1.6)){

if((sagsharp <=120)&&(solsharp<=120)) {
digitalWrite( fPinA, LOW );
digitalWrite( rPinA, HIGH );
digitalWrite( fPinB, HIGH );
digitalWrite( rPinB, LOW );
}
else

// Makes motor A go forward

// Reverse not used
// Makes motor B go forward

digitalWrite( fPinA, HIGH );

// Makes motor A go forward

digitalWrite( rPinA, LOW );

// Reverse not used

digitalWrite( fPinB, HIGH );

// Makes motor B go forward

digitalWrite( rPinB, LOW );

// Reverse not used

}
}

else if((solqtr<1.6) || (sagqtr<1.6)){

digitalWrite( fPinA, LOW );
digitalWrite( rPinA, HIGH );
digitalWrite( fPinB, LOW );
digitalWrite( rPinB, HIGH );
delay(650);
}

// Makes motor A go forward

// Reverse not used
// Makes motor B go forward