// Connections:

#define infrared 12 // Infrared sensor

#define line1 5 // Line sensor //

#define line2 6 // Line sensor // These are optional

#define line3 7 // Line sensor //

#define motor1 8 // Motor control HIGH = FWD, LOW = BWD

#define motor2 9 // Speed input

#define motor3 10 // Speed input

#define motor4 11 // Motor control HIGH = FWD, LOW = BWD

int safespeed = 120; // Neutral speed

void setup()

Serial.begin(9600);

pinMode(motor1, OUTPUT); // Set all motor driver pins to output

pinMode(motor2, OUTPUT);

pinMode(motor3, OUTPUT);

pinMode(motor4, OUTPUT);

pinMode(infrared, INPUT);
 digitalWrite(infrared, HIGH);

pinMode(line1, INPUT); // All line sensor pins should be set as input

pinMode(line2, INPUT);

pinMode(line3, INPUT);

void loop() {

int infraSense = digitalRead(infrared); // GET THE LOGIC STATE SIGNAL FRM FRONT IR SENSOR

//DISPLAY THE OUTPUT OF THE FRONT IR SENSOR ON SERIAL MONITOR

Serial.println(infraSense);

delay(10);

if(infraSense == 1) // MAY NAJAHARANG BA SA HARAP?

//ATRAS

digitalWrite(motor1, LOW);

digitalWrite(motor4, LOW);

analogWrite(motor2, safespeed);

analogWrite(motor3, safespeed);
 delay(250);

if(infraSense == 0)// ABANTE LANG PAG WALANG NAKAHARANG

//FORWARD ABANTE KASI WALANG NAKAHARANG

digitalWrite(motor1, HIGH);

digitalWrite(motor4, HIGH);

analogWrite(motor2, safespeed);

analogWrite(motor3, safespeed);

delay(250);