/*int rm1 = 1; // Right Motor Relay 1
int rm2 = 2; // Right Motor Relay 2
int lm1 = 3; // Left Motor Relay 1
int lm2 = 4; // Left Motor Relay 2
int Stop = 5;       // stop
int forward = 6 ;   //Forward
int backward = 7;    //Backward
int left = 8;       // Left turn
int right = 9;      // Turn Right
int noAction = 10;  //No Action
int eStop = 11 ;    // Rasbery 2 Stop*/

void setup() {

  pinMode(1,OUTPUT); //Relay
  pinMode(2,OUTPUT);
  pinMode(3,OUTPUT);
  pinMode(4,OUTPUT);
    
  pinMode(5,INPUT); //Rasbery 1
  pinMode(6,INPUT);
  pinMode(7,INPUT);
  pinMode(8,INPUT);
  pinMode(9,INPUT);
  pinMode(10,INPUT);
  pinMode(11,INPUT); // Rasbery 2

}

void loop() {

/*int StopM = digitalRead(5);
int eStopM = digitalRead(11);
int forwardM = digitalRead(6);
int backwardM = digitalRead(7);
int leftM = digitalRead(8);
int rightM = digitalRead(9);
int noActionM = digitalRead(10);*/


  
   if(digitalRead(5) == HIGH){
    
      runStop();
    
    }
    else if(digitalRead(11) == HIGH){
    
      runStop();
    
    }

  else if(digitalRead(6) == HIGH){
  
      runFoward();
  }  
  
   else if(digitalRead(7) == HIGH){
  
      runBackward();
  }  

     else if(digitalRead(8) == HIGH){
  
      runLeft();
  }

     else if(digitalRead(9) == HIGH){
  
     runRight();
  }

       else if(digitalRead(10) == HIGH){
  
     runNoAction(); 
  }

  
  }


void runFoward() {
   digitalWrite(1,HIGH);
   digitalWrite(2,LOW);
   digitalWrite(3,HIGH);
   digitalWrite(4,LOW);
   delay(500);
    }

    void runLeft() {
   digitalWrite(1,LOW);
   digitalWrite(2,HIGH);
   digitalWrite(3,HIGH);
   digitalWrite(4,LOW);
   delay(500);

    }

    void runRight() {
   digitalWrite(1,HIGH);
   digitalWrite(2,LOW);
   digitalWrite(3,LOW);
   digitalWrite(4,HIGH);
   delay(500);
    }

    void runBackward() {
   digitalWrite(1,LOW);
   digitalWrite(2,HIGH);
   digitalWrite(3,LOW);
   digitalWrite(4,HIGH);
   delay(500);

    }

void runStop(){
   digitalWrite(1,LOW);
   digitalWrite(2,LOW);
   digitalWrite(3,LOW);
   digitalWrite(4,LOW);
   delay(500);

    }

    void runNoAction() {
   digitalWrite(1,HIGH);
   digitalWrite(2,HIGH);
   digitalWrite(3,HIGH);
   digitalWrite(4,HIGH);
   delay(500);


}