//motor shield pin

int dirR = 12;

int speedR = 10;

int dirL = 13;

int speedL = 11;

int pb = 1; //push button

//line sensor pin

int sensor1 = 12;

int sensor2 = 11;

int sensor3 = 10;

int sensor4 = 9;

int sensor5 = 8;

void setup()

pinMode(dirR, OUTPUT);

pinMode(speedR, OUTPUT);

pinMode(dirL, OUTPUT);

pinMode(speedL, OUTPUT);

pinMode(pb, INPUT);

pinMode(sensor1, INPUT);

pinMode(sensor2, INPUT);

pinMode(sensor3, INPUT);
 pinMode(sensor4, INPUT);

pinMode(sensor5, INPUT);

while (digitalRead(pb) == 1)

stop();

void forward(int a, int b) //a=right motor, b=left motor

digitalWrite(dirR, HIGH);

analogWrite(speedR, a);

digitalWrite(dirL, HIGH);

analogWrite(speedL, b);

void backward(int a, int b) //a=right motor, b=left motor

digitalWrite(dirR, LOW);

analogWrite(speedR, a);

digitalWrite(dirL, LOW);

analogWrite(speedL, b);

}
void right(int a, int b) //a=right motor, b=left motor

digitalWrite(dirR, LOW);

analogWrite(speedR, a);

digitalWrite(dirL, HIGH);

analogWrite(speedL, b);

void left(int a, int b) //a=right motor, b=left motor

digitalWrite(dirR, HIGH);

analogWrite(speedR, a);

digitalWrite(dirL, LOW);

analogWrite(speedL, b);

void stop()

analogWrite(speedR, 0);

analogWrite(speedL, 0);

void loop()

int s1 = digitalRead(sensor1);
int s2 = digitalRead(sensor2);

int s3 = digitalRead(sensor3);

int s4 = digitalRead(sensor4);

int s5 = digitalRead(sensor5);

if (s1 == LOW && s2 == LOW && s3 == HIGH && s4 == LOW && s5 == LOW) //12*45 - Situation #1

forward(100, 100); //(right, lrft)

if (s1 == LOW && s2 == LOW && s3 == HIGH && s4 == HIGH && s5 == LOW) //12**5 - Situation #2

right(50, 100); //(right, lrft)

if (s1 == LOW && s2 == HIGH && s3 == HIGH && s4 == LOW && s5 == LOW) //1**45 - Situation #3

left(100, 50); //(right, lrft)

if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == HIGH && s5 == LOW) //123*5 - Situation #4

right(20, 85); //(right, lrft)

if (s1 == LOW && s2 == HIGH && s3 == LOW && s4 == LOW && s5 == LOW) //1*345 - Situation #5

forward(85, 20); //(right, lrft)

}
if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == HIGH && s5 == HIGH) //123** - Situation #6

left(20, 75); //(right, lrft)

if (s1 == HIGH && s2 == HIGH && s3 == LOW && s4 == LOW && s5 == LOW) //**345 - Situation #7

right(75, 20); //(right, lrft)

if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == LOW && s5 == HIGH) //1234* - Situation #8

forward(0, 100); //(right, lrft)

if (s1 == HIGH && s2 == LOW && s3 == LOW && s4 == LOW && s5 == LOW) //*2345 - Situation #9

forward(100, 0); //(right, lrft)

if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == LOW && s5 == LOW) //12345 - Situation #10

forward(0, 0); //(right, lrft)

if (s1 == LOW && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == LOW) //1***5 - Situation #11

forward(100, 100); //(right, lrft)

if (s1 == HIGH && s2 == HIGH && s3 == HIGH && s4 == LOW && s5 == LOW) //***45 - Situation #12
 {

left(100, 0); //(right, lrft)

if (s1 == LOW && s2 == LOW && s3 == HIGH && s4 == HIGH && s5 == HIGH) //12*** - Situation #13

forward(0, 100); //(right, lrft)

if (s1 == LOW && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == HIGH) //1**** - Situation #14

forward(120, 0); //(right, lrft)

if (s1 == HIGH && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == LOW) //****5 - Situation #15

forward(0, 120); //(right, lrft)

if (s1 == HIGH && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == HIGH) //***** - Situation #16

stop();