uvc robo.ino

int S_A = 11;  //speed motor a
int M_A1 = 2; //motor a = +
int M_A2 = 3; //motor a = -
int M_B1 = 4; //motor b = -
int M_B2 = 5; //motor b = +
int S_B = 10;  //speed motor b
int X=A0;
int X_S = 7;
int Y_S = 8;
int Z_S = 6;
int Y=0;
int led =13;
char val;

void setup()
{ 
  Serial.begin(9600);
  pinMode(M_B1, OUTPUT);
  pinMode(M_B2, OUTPUT);
  pinMode(M_A1, OUTPUT);
  pinMode(M_A2, OUTPUT);
  pinMode(S_B, OUTPUT);
  pinMode(S_A, OUTPUT);
  pinMode(X_S, INPUT);
  pinMode(Y_S, INPUT);
  pinMode(Z_S, INPUT);
  pinMode(X, INPUT);
  pinMode(led,OUTPUT);
  pinMode(12,INPUT);
}

void loop()
{
    
  digitalWrite(10, HIGH);
  digitalWrite(11, HIGH);
 while (Serial.available() > 0 && ( digitalRead(12)  == HIGH))
  {
  val = Serial.read();
  Serial.println(val);
  }


  if( val == 'F') // Forward
    {
      digitalWrite(M_A1, HIGH);
      digitalWrite(M_A2, LOW);
      digitalWrite(M_B1, HIGH);
      digitalWrite(M_B2, LOW);
       digitalWrite(9,HIGH);
    }
  else if(val == 'B') // Backward
    {
      digitalWrite(M_A1, LOW);
      digitalWrite(M_A2, HIGH);
      digitalWrite(M_B1, LOW);
      digitalWrite(M_B2, HIGH);
       digitalWrite(9,HIGH);
    }
 
    else if(val == 'L') //Left
    {
    digitalWrite(M_A1, LOW);
    digitalWrite(M_A2, HIGH);
    digitalWrite(M_B1, HIGH);
    digitalWrite(M_B2, LOW);
     digitalWrite(9,HIGH);
    }
    else if(val == 'R') //Right
    {
    digitalWrite(M_A1, HIGH);
    digitalWrite(M_A2, LOW);
    digitalWrite(M_B1, LOW);
    digitalWrite(M_B2, HIGH);
     digitalWrite(9,HIGH);
    }
   
  else if(val == 'S') //Stop
    {
    digitalWrite(M_A1, LOW);
    digitalWrite(M_A2, LOW);
    digitalWrite(M_B1, LOW);
    digitalWrite(M_B2, LOW);
        digitalWrite(9,LOW);
    }
 while ( digitalRead(12)  == LOW)
 {   digitalWrite(9,HIGH);
    if ((digitalRead(X_S)==0)&&(digitalRead(Y_S)==1)&&(digitalRead(Z_S)==0)){forward(); }
    if ((digitalRead(X_S)==1)&&(digitalRead(Y_S)==1)&&(digitalRead(Z_S)==1)){forward(); }
    if ((digitalRead(X_S)==0)&&(digitalRead(Y_S)==1)&&(digitalRead(Z_S)==1)){softRight(); }
    if ((digitalRead(X_S)==0)&&(digitalRead(Y_S)==0)&&(digitalRead(Z_S)==1)){turnRight(); }
    if ((digitalRead(X_S)==1)&&(digitalRead(Y_S)==1)&&(digitalRead(Z_S)==0)){softLeft(); }
    if ((digitalRead(X_S)==1)&&(digitalRead(Y_S)==0)&&(digitalRead(Z_S)==0)){turnLeft(); }
    if ((digitalRead(X_S)==1)&&(digitalRead(Y_S)==0)&&(digitalRead(Z_S)==1)){turnLeft(); }
    if ((digitalRead(X_S)==0)&&(digitalRead(Y_S)==0)&&(digitalRead(Z_S)==0)){turnLeft(); }
 }

}
void forward() {
  digitalWrite(M_A1, HIGH);
  digitalWrite(M_A2, LOW);
  digitalWrite(M_B1, HIGH);
  digitalWrite(M_B2, LOW);
}
void softLeft() {
  digitalWrite(M_A1, LOW);
  digitalWrite(M_A2, LOW);
  digitalWrite(M_B1, HIGH);
  digitalWrite(M_B2, LOW);
  }
void turnLeft() {
  digitalWrite(M_A1, LOW);
  digitalWrite(M_A2, HIGH);
  digitalWrite(M_B1, HIGH);
  digitalWrite(M_B2, LOW);
}
void softRight() {
  digitalWrite(M_A1, HIGH);
  digitalWrite(M_A2, LOW);
  digitalWrite(M_B1, LOW);
  digitalWrite(M_B2, LOW);
}
void turnRight() {
  digitalWrite(M_A1, HIGH);
  digitalWrite(M_A2, LOW);
  digitalWrite(M_B1, LOW);
  digitalWrite(M_B2, HIGH);
}