int distancia=0;
int trig= 12;
int echo= 14; 
int tiempo=0;
int sensor1=25;
int sensor2=5;

void adelante() {
  //motor derecho avanza
digitalWrite(22, HIGH);
digitalWrite(23, LOW);
analogWrite(19,255);

//motor izquierdo avanza
digitalWrite(35, HIGH);
digitalWrite(34, LOW);
analogWrite(32,255);
}

void retroceder(){
//motor derecho retrocede
digitalWrite(22, LOW);
digitalWrite(23, HIGH);
analogWrite(19,255);

//motor izquierdo retrocede
digitalWrite(35, LOW);
digitalWrite(34, HIGH);
analogWrite(32,255);
}

void derecha(){
//motor derecho retrocede
digitalWrite(22, LOW);
digitalWrite(23, HIGH);
analogWrite(19,255);

//motor izquierdo avanza
digitalWrite(35, HIGH);
digitalWrite(34, LOW);
analogWrite(32,255);
}

void izquierda(){
//motor derecho avanza
digitalWrite(22, HIGH);
digitalWrite(23, LOW);
analogWrite(19,255);

//motor izquierdo retrocede
digitalWrite(35, LOW);
digitalWrite(34, HIGH);
analogWrite(32,255);
}

void setup() {

pinMode(trig, OUTPUT);
pinMode(echo, INPUT);
pinMode(sensor1, INPUT);
pinMode(sensor2, INPUT);

pinMode(22, OUTPUT);
pinMode(23, OUTPUT);
pinMode(19, OUTPUT);

pinMode(35, OUTPUT);
pinMode(34, OUTPUT);
pinMode(32, OUTPUT);
  
Serial.begin(115200);
  
}
void loop() {
  
  digitalWrite(trig, HIGH);
  delayMicroseconds(10);
  digitalWrite(trig, LOW);
  tiempo= pulseIn(echo,HIGH);
  distancia=0.0172*tiempo;

  if(sensor1==1 && sensor2==1){
   
   derecha();
   if(distancia<10){
     adelante();
   }
  }
  else{
   
   retroceder();
   delay(2000);
   
  }


  delay(10); // this speeds up the simulation
}