5sensor 110 Buzzer

#define IR_SENSOR_RIGHT 11
#define IR_SENSOR_Middle 12
#define IR_SENSOR_LEFT 13
#define IR_SENSOR_LEFT2 3
#define IR_SENSOR_RIGHT2 4
#define IR_SENSOR_BUZZER_LEFT 1
#define IR_SENSOR_BUZZER_RIGHT 2
#define MOTOR_SPEED 110
//Right motor
int enableRightMotor=6;
int rightMotorPin1=7;
int rightMotorPin2=8;
//Left motor
int enableLeftMotor=5;
int leftMotorPin1=9;
int leftMotorPin2=10;
int buzzer=0;
void setup()
{
//The problem with TT gear motors is that, at very low pwm value it
does not even rotate.
//If we increase the PWM value then it rotates faster and our robot is
not controlled in that speed and goes out of line.
//For that we need to increase the frequency of analogWrite.
//Below line is important to change the frequency of PWM signal on pin
D5 and D6
//Because of this, motor runs in controlled manner (lower speed) at
high PWM value.
//This sets frequecny as 7812.5 hz.
// put your setup code here, to run once:

pinMode(enableRightMotor, OUTPUT);
pinMode(rightMotorPin1, OUTPUT);
pinMode(rightMotorPin2, OUTPUT);
pinMode(enableLeftMotor, OUTPUT);
pinMode(leftMotorPin1, OUTPUT);
pinMode(leftMotorPin2, OUTPUT);
pinMode(buzzer,OUTPUT);
pinMode(IR_SENSOR_RIGHT, INPUT);
pinMode(IR_SENSOR_Middle, INPUT);
pinMode(IR_SENSOR_LEFT, INPUT);
pinMode(IR_SENSOR_LEFT2, INPUT);
pinMode(IR_SENSOR_RIGHT2, INPUT);
pinMode(IR_SENSOR_BUZZER_LEFT,INPUT);
pinMode(IR_SENSOR_BUZZER_RIGHT,INPUT);
rotateMotor(0,0);
}
void loop()
{
int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);

int middleIRSensorValue = digitalRead(IR_SENSOR_Middle);
int leftIRSensorValue = digitalRead(IR_SENSOR_LEFT);
int left2IRSensorValue = digitalRead(IR_SENSOR_LEFT2);
int right2IRSensorValue = digitalRead(IR_SENSOR_RIGHT2);
int leftirbuzzer = digitalRead(IR_SENSOR_BUZZER_LEFT);
int rightirbuzzer = digitalRead(IR_SENSOR_BUZZER_RIGHT);
//If left and right sensors doesn't detects black line, then go
straight
if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&
rightIRSensorValue == HIGH && middleIRSensorValue == HIGH &&
leftIRSensorValue == HIGH && left2IRSensorValue == LOW &&
leftirbuzzer==HIGH)
{
rotateMotor(MOTOR_SPEED, MOTOR_SPEED);
digitalWrite(buzzer,LOW);
}
else if (rightirbuzzer == LOW && right2IRSensorValue == LOW &&
leftirbuzzer==LOW)
{
}
else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

rightIRSensorValue == HIGH && middleIRSensorValue == LOW &&
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

rightIRSensorValue == LOW && middleIRSensorValue == HIGH &&
leftIRSensorValue == LOW && left2IRSensorValue == LOW &&
leftirbuzzer==HIGH)
{
digitalWrite(buzzer,HIGH);
}
leftirbuzzer==LOW)
{
}
else if (rightirbuzzer == HIGH && right2IRSensorValue == HIGH &&

leftIRSensorValue == HIGH && left2IRSensorValue == HIGH &&
leftirbuzzer==HIGH)
{
}
else if (rightirbuzzer == LOW && right2IRSensorValue == HIGH &&
leftirbuzzer==LOW)
{
}
//If right sensors detects black line, then turn left

rightIRSensorValue == LOW && middleIRSensorValue == LOW &&
leftIRSensorValue == LOW && left2IRSensorValue == HIGH &&
leftirbuzzer==HIGH)
{
rotateMotor(MOTOR_SPEED/1.3, -MOTOR_SPEED);
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

leftirbuzzer==HIGH)
{
rotateMotor(MOTOR_SPEED/1.1,MOTOR_SPEED/1.3);
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

leftirbuzzer==HIGH)
{
rotateMotor(MOTOR_SPEED/1.22,-MOTOR_SPEED/1.1);
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

leftirbuzzer==HIGH)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}
//If left sensors detects black line, then turn right

leftirbuzzer==HIGH)
{
rotateMotor(-MOTOR_SPEED,MOTOR_SPEED/1.3);
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}

leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

leftirbuzzer==HIGH)
{
rotateMotor(-MOTOR_SPEED/1.1,MOTOR_SPEED/1.22);
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}

leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}

leftirbuzzer==HIGH)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==LOW)
{
}
leftirbuzzer==HIGH)
{
}

leftirbuzzer==HIGH)
{
}
leftirbuzzer==HIGH)
{
}
else
{
rotateMotor(MOTOR_SPEED/1.22, MOTOR_SPEED/1.22);
}
}
void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)

{
if (rightMotorSpeed < 0)
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,HIGH);
}
else if (rightMotorSpeed > 0)
{
digitalWrite(rightMotorPin1,HIGH);
}
else
{
}
if (leftMotorSpeed < 0)
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,HIGH);
}
else if (leftMotorSpeed > 0)
{
digitalWrite(leftMotorPin1,HIGH);
}
else
{
}
analogWrite(enableRightMotor, abs(rightMotorSpeed));
analogWrite(enableLeftMotor, abs(leftMotorSpeed));
}

5sensor 110 Buzzer

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#define IR_SENSOR_RIGHT 11

// put your setup code here, to run once:

int rightIRSensorValue = digitalRead(IR_SENSOR_RIGHT);

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == HIGH &&

//If right sensors detects black line, then turn left

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

//If left sensors detects black line, then turn right

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == HIGH &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == LOW &&

else if (rightirbuzzer == HIGH && right2IRSensorValue == HIGH &&

else if (rightirbuzzer == LOW && right2IRSensorValue == HIGH &&

void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)

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