int PUL = 8;

int DIR = 9;
int SET = 10;
int SW2 = 7;
int SW1 = 6;
int INF = 11;
int FSR = A0;
int lectura;
int valor = 0;
int estado;

void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
pinMode(PUL, OUTPUT);
pinMode(DIR, OUTPUT);
pinMode(SET, OUTPUT);
pinMode(SW2, INPUT);
pinMode(SW1, INPUT);
pinMode(INF, INPUT);
pinMode(FSR, INPUT);
digitalWrite(SET, HIGH);
}

void loop() {
estado = digitalRead(SW2);
valor = digitalRead(INF);
lectura = analogRead(FSR) / 255;

primero();

if (valor == LOW) {
digitalWrite(PUL, LOW);
digitalWrite(DIR, HIGH);
}

if (lectura >= 2) {
digitalWrite(PUL, LOW);
digitalWrite(DIR, LOW);
Serial.print("lectura: ");
Serial.print(lectura);
Serial.println();
delay(6000);
digitalWrite(PUL, HIGH);
digitalWrite(DIR, LOW);
delay(18000);

//Serial.print("sacar el material de la garra");

}
}

void primero() {
if (estado == 0 && valor == 1) {
digitalWrite(PUL, HIGH);
digitalWrite(DIR, LOW);
} else {
digitalWrite(PUL, LOW);
digitalWrite(DIR, LOW);
}
}