int mr1=8; //motor right 1

int mr2=9; //motor right 2

int ml1=10; //motor left 1
int ml2=11; //motor left 2
int sr=6; //sensor right
int sl=7; //sensor left
int svr=0;
int svl=0;
int led=13;
int enr=3;
int enl=5;

int vspeed=100;
int tspeed=255;
int tdelay=20;

void setup()
{
pinMode(mr1,OUTPUT);
pinMode(mr2,OUTPUT);
pinMode(ml1,OUTPUT);
pinMode(ml2,OUTPUT);
pinMode(led,OUTPUT);
pinMode(sr,INPUT);
pinMode(sl,INPUT);

delay(5000);
}

void loop()
{
svr=digitalRead(sr);
svl=digitalRead(sl);

if(svl==LOW && svr==LOW)

{
forward(); //maju
}

if(svl==HIGH && svr==LOW)

{
left(); //belok kiri
}

if(svl==LOW && svr==HIGH)

{
right(); //belok kanan
}

if(svl==HIGH && svr==HIGH)

{
stop(); //berhenti
}
}

void forward()
{
digitalWrite(mr1,HIGH);
digitalWrite(mr2,LOW);
 digitalWrite(ml1,HIGH);
digitalWrite(ml2,LOW);
analogWrite (enr,vspeed);
analogWrite (enl,vspeed);
}

void backward()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,LOW);
digitalWrite(ml2,HIGH);
analogWrite (enr,vspeed);
analogWrite (enl,vspeed);
}

void right()
{
digitalWrite(mr1,LOW);
digitalWrite(mr2,HIGH);
digitalWrite(ml1,HIGH);
digitalWrite(ml2,LOW);
analogWrite (enr,tspeed);
analogWrite (enl,tspeed);
delay(tdelay);
}

void left()
{
digitalWrite(mr1,HIGH);
digitalWrite(mr2,LOW);
digitalWrite(ml1,LOW);
digitalWrite(ml2,HIGH);
analogWrite (enr,tspeed);
analogWrite (enl,tspeed);
delay(tdelay);
}

void stop()
{
analogWrite (enr,0);
analogWrite (enl,0);
}