// Code used for the obstacle avoiding, line following robot.
int MotorControl[] = {4,5,6,7}; // Define the motor driver input controls
int LineSens    [] = {8,9,10 }; // Define Line sensor's L,C,R inputs 
int LineVal     [] = {0,0,0  };
char Direction;


void setup() {
  // put your setup code here, to run once:
pinMode(MotorControl, OUTPUT);
pinMode(LineSens    , INPUT );
Serial.begin(9600);
}

void Control(char x) {
  // Switch between the possible directions
  switch(x){
    case 'F':
      //set motor1 forward
    digitalWrite(MotorControl[0], 0 );
    digitalWrite(MotorControl[1], 1 );
      //set motor2 forward
    digitalWrite(MotorControl[2], 0 );
    digitalWrite(MotorControl[3], 1 );
    break;
    case 'B':
     //set motor1 backward
    digitalWrite(MotorControl[0], 1 );
    digitalWrite(MotorControl[1], 0 );
      //set motor2 backward
    digitalWrite(MotorControl[2], 1 );
    digitalWrite(MotorControl[3], 0 );
    break;
    case 'R':
      //set motor1 backward
    digitalWrite(MotorControl[0], 1 );
    digitalWrite(MotorControl[1], 0 );
      //set motor2 forward
    digitalWrite(MotorControl[2], 0 );
    digitalWrite(MotorControl[3], 1 );
    break;
    case 'L':
      //set motor1 forward
    digitalWrite(MotorControl[0], 0 );
    digitalWrite(MotorControl[1], 1 );
      //set motor2 backward
    digitalWrite(MotorControl[2], 1 );
    digitalWrite(MotorControl[3], 0 );
  }
  
  
}

void loop() {
LineVal[0] = digitalRead(LineSens[0]);
LineVal[1] = digitalRead(LineSens[1]);
LineVal[2] = digitalRead(LineSens[2]);
  // put your main code here, to run repeatedly:

if (LineVal[0] == 1){
  Serial.println("LEFT");
  Direction = 'L';
}else if (LineVal[1] == 1){
  Serial.println("CENTER");
  Direction = 'F';
}else if (LineVal[2] == 1){
  Serial.println("RIGHT");
  Direction = 'R';
};

Control(Direction);

delay(50);
}