#define LS 10      // left sensor
#define RS 9       // right sensor
#define LM1 7      //motor Driver in1
#define LM2 6     //motor Driver in2
#define RM1 5      //motor Driver in3
#define RM2 4      //motor Driver in4

void setup()
{
  pinMode(LS, INPUT);
  pinMode(RS, INPUT);
  pinMode(LM1, OUTPUT);
  pinMode(LM2, OUTPUT);
  pinMode(RM1, OUTPUT);
  pinMode(RM2, OUTPUT);
}
void loop()
{
  
  
  if(!digitalRead(LS) && !digitalRead(RS))  
  {
       // FORWARD
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }
  
  if((digitalRead(LS)) && !digitalRead(RS))     
  {
      // Left turn
    digitalWrite(LM1, LOW);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }
  
  if(!digitalRead(LS) && (digitalRead(RS)))     
  {
        // turn right
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, LOW);
    digitalWrite(RM2, LOW);
  }
  
  if((digitalRead(LS)) && (digitalRead(RS)))    
  {       //Stop
    digitalWrite(LM1, LOW);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, LOW);
    digitalWrite(RM2, LOW);
  }
}