int frontleft = 9;
int frontright = 8;
int backright = 6;
int backleft = 7;
int irright = 3;
int irleft = 2;
int M1_Speed = 80; // speed of motor 1 M1= Motor 1
int M2_Speed = 80; // speed of motor 2 M2= Motor 
int LeftRotationSpeed = 220;  // Left Rotation Speed we have max speed is 255 here we can control our robot speed for better controling we have to set normal speed 
int RightRotationSpeed = 220; 
#define enA 10 // driver Output
#define enB 5  // driver output

void setup() {
  pinMode(frontleft, OUTPUT);
  pinMode(frontright, OUTPUT);
  pinMode(backright, OUTPUT);
  pinMode(backleft, OUTPUT);
  pinMode(irright, INPUT);
  pinMode(irleft, INPUT);
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);

}

void loop() {
  int irrvalue = digitalRead(irleft);
  int irlvalue = digitalRead(irright);
  if (irrvalue == LOW && irlvalue == LOW)
  {digitalWrite(frontleft, HIGH);
  digitalWrite(frontright, HIGH);
  digitalWrite(backright, HIGH);
  digitalWrite(backleft, HIGH);}

  else if (irlvalue == HIGH && irrvalue == HIGH)
  {digitalWrite(frontright, LOW);
  digitalWrite(backright, LOW);
  digitalWrite(frontleft, LOW);
  digitalWrite(backleft, LOW);
  }
  else if (irlvalue == HIGH && irrvalue == LOW)
  {digitalWrite(frontright, HIGH);
  digitalWrite(backright,HIGH);
  digitalWrite(frontleft, LOW);
  digitalWrite(backleft, LOW);}
  else if (irlvalue == LOW && irrvalue == HIGH)
  {digitalWrite(frontright, LOW);
  digitalWrite(backright,LOW);
  digitalWrite(frontleft, HIGH);
  digitalWrite(backleft, HIGH);}
}