const int RightSensor=5;

const int CenterSensor=6;

const int LeftSensor=7;
int s1,s2,s3;
int speed = 100;
void setup() {
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
pinMode(11, OUTPUT);
for(int x=5;x<=7;x++){
pinMode(x,INPUT);
}
Serial.begin(9600);
}
void loop() {
s1=digitalRead(RightSensor);
s2=digitalRead(CenterSensor);
s3=digitalRead(LeftSensor);
if((s1==1)&&(s2==1)&&(s3==0)){
turnright();
}
else if((s1==1)&&(s2==0)&&(s3==1)){
forward();
}
else if((s1==0)&&(s2==1)&&(s3==1)){
turnleft();
}
else if((s1==0)&&(s2==1)&&(s3==0)){
backward();
}
else{Stop();}
}
void turnleft(){
digitalWrite(8, HIGH);
digitalWrite(9, speed);
digitalWrite(10, speed);
digitalWrite(11, HIGH);
Serial.print("Motor Rotation: Left");
Serial.println();
}
void forward(){
digitalWrite(8, LOW);
digitalWrite(9, speed);
 digitalWrite(10, speed);
digitalWrite(11, HIGH);
Serial.print("Motor Rotation: Forward");
Serial.println();
}
void turnright(){
digitalWrite(8, LOW);
digitalWrite(9, speed);
digitalWrite(10, speed);
digitalWrite(11, LOW);
Serial.print("Motor Rotation: Right");
Serial.println();
}
void backward(){
digitalWrite(8, HIGH);
digitalWrite(9, speed);
digitalWrite(10, speed);
digitalWrite(11, LOW);
Serial.print("Motor Rotation: Backward");
Serial.println();
}
void Stop(){
digitalWrite(8, LOW);
digitalWrite(9, 0);
digitalWrite(10, 0);
digitalWrite(11, LOW);
Serial.print("Motor Rotation: Stop");
Serial.println();
}