const int MOTOR_1A = 5;   /*motor 1*/
const int MOTOR_1B = 3;   
const int MOTOR_2A = 6;   /*motor 2*/
const int MOTOR_2B = 9;
const int SENSOR1 = 13;   /*sensor1*/
const int SENSOR2 = 12;   /*sensor2*/
const int SENSOR3 = 11;   /*sensor3*/
const int SENSOR4 = 10;   /*sensor4*/
const int SENSOR5 = 8;    /*sensor5*/
const int SENSOR6 = 7;    /*sensor6*/

void setup()
{
pinMode(MOTOR_1A, OUTPUT); 
pinMode(MOTOR_1B, OUTPUT); 
pinMode(MOTOR_2A, OUTPUT); 
pinMode(MOTOR_2B, OUTPUT); 
pinMode(SENSOR1, INPUT); 
pinMode(SENSOR2, INPUT); 
pinMode(SENSOR3, INPUT); 
pinMode(SENSOR4, INPUT); 
pinMode(SENSOR5, INPUT); 
pinMode(SENSOR6, INPUT);
}

void loop()
{
/* untuk mendeteksi 1 dan 0 sensor garis ini maka lakukan pengujian pada garis sirkuit. Catatlah data penyalaan lampu LED pada 6 buah sensor garis pada saat menyentuh garis lurus, berbelok kanan atau kiri, berbelok tajam dan lain-lain.

Logika yang digunakan adalah AND */

//deteksi sensor maju 
if ((digitalRead(SENSOR1) == 0)&& 
(digitalRead(SENSOR2) == 0)&& 
(digitalRead(SENSOR3) == 1)&& 
(digitalRead(SENSOR4) == 1)&& 
(digitalRead(SENSOR5) == 0)&& 
(digitalRead(SENSOR6) == 0)) 
{MAJU();}

if ((digitalRead(SENSOR1) == 0)&& 
(digitalRead(SENSOR2) == 1)&& 
(digitalRead(SENSOR3) == 1)&&
(digitalRead(SENSOR4) == 0)&& 
(digitalRead(SENSOR5) == 0)&& 
(digitalRead(SENSOR6) == 0)) 
{MAJU();}

if ((digitalRead(SENSOR1) == 0)&&
(digitalRead(SENSOR2) == 1)&& 
(digitalRead(SENSOR3) == 0)&& 
(digitalRead(SENSOR4) == 0)&& 
(digitalRead(SENSOR5) == 0)&& 
(digitalRead(SENSOR6) == 0)) 
{MAJU();}

//deteksi sensor belok kanan 
if ((digitalRead(SENSOR1) == 0)&&
(digitalRead(SENSOR2) == 0)&&
(digitalRead(SENSOR3) == 1)&&
(digitalRead(SENSOR4) == 1)&&
(digitalRead(SENSOR5) == 1)&&
(digitalRead(SENSOR6) == 1))
{BELOK_KANAN();}

if ((digitalRead(SENSOR1) == 0)&&
(digitalRead(SENSOR2) == 0)&& 
(digitalRead(SENSOR3) == 0)&& 
(digitalRead(SENSOR4) == 0)&& 
(digitalRead(SENSOR5) == 1)&& 
(digitalRead(SENSOR6) == 1)) 
{BELOK_KANAN();}

if ((digitalRead(SENSOR1) == 0)&& 
(digitalRead(SENSOR2) == 0)&& 
(digitalRead(SENSOR3) == 0)&& 
(digitalRead(SENSOR4) == 1)&& 
(digitalRead(SENSOR5) == 0)&& 
(digitalRead(SENSOR6) == 0)) 
(BELOK_KANAN();}

if ((digitalRead(SENSOR1) == 0)&& 
(digitalRead(SENSOR2) == 0)&& 
(digitalRead(SENSOR3) == 0)&& 
(digitalRead(SENSOR4) == 0)&& 
(digitalRead(SENSOR5) == 1)&& 
(digitalRead(SENSOR6) == 1)) 
{BELOK_KANAN();}

//deteksi sensor belok kiri
if ((digitalRead(SENSOR1) == 0)&&
(digitalRead(SENSOR2) == 0)&&
(digitalRead(SENSOR3) == 1)&&
(digitalRead(SENSOR4) == 0)&&
(digitalRead(SENSOR5) == 0)&&
(digitalRead(SENSOR6) == 0))
{BELOK_KIRI();}

//deteksi sensor belok kiri sedikit
if ((digitalRead(SENSOR1) == 0)&&
(digitalRead(SENSOR2) == 1)&&
(digitalRead(SENSOR3) == 1)&&
(digitalRead(SENSOR4) == 0)&&
(digitalRead(SENSOR5) == 0)&&
(digitalRead(SENSOR6) == 0)) 
(BELOK_KIRI_SEDIKIT();}

if ((digitalRead(SENSOR1) == 0)&&
(digitalRead(SENSOR2) == 1)&&
(digitalRead(SENSOR3) == 0)&&
(digitalRead(SENSOR4) == 0)&&
(digitalRead(SENSOR5) == 0)&&
(digitalRead(SENSOR6) == 0))
(BELOK_KIRI_SEDIKIT();}

//deteksi sensor belok kiri 
if ((digitalRead(SENSOR1) == 1)&&
(digitalRead(SENSOR2) == 1)&&
(digitalRead(SENSOR3) == 1)&&
(digitalRead(SENSOR4) == 1)&&
(digitalRead(SENSOR5) == 0)&&
(digitalRead(SENSOR6) == 0))
{BELOK_KIRI();}

if ((digitalRead(SENSOR1) == 1)&&
(digitalRead(SENSOR2) == 1)&&
(digitalRead(SENSOR3) == 0)&&
(digitalRead(SENSOR4) == 0)&&
(digitalRead(SENSOR5) == 0)&&
(digitalRead(SENSOR6) == 0))
{BELOK_KIRI();}

//deteksi sensor untuk stop 
if ((digitalRead(SENSOR1) == 1)&&
(digitalRead(SENSOR2) == 1)&&
(digitalRead(SENSOR3) == 1)&&
(digitalRead(SENSOR4) == 1)&&
(digitalRead(SENSOR5) == 1)&&
(digitalRead(SENSOR6) == 1))
{STOP();} 
}

//----------------------------- HARUS SESUAI DENGAN Jalur
void MAJU()
{ 
analogWrite(MOTOR_1A,200); 
analogWrite(MOTOR_1B,0); 
analogWrite(MOTOR_2A,200); 
analogWrite(MOTOR_2B,0);
}

//-----------------------------
void BELOK_KANAN()
{ 
analogWrite(MOTOR_1A,200);
analogWrite(MOTOR_1B,0);
analogWrite(MOTOR_2A,0);
analogWrite(MOTOR_2B,0); 
}
//-----------------------------
void BELOK_KIRI_SEDIKIT()
{
analogWrite(MOTOR_1A,0);
analogWrite(MOTOR_1B,100);
analogWrite(MOTOR_2A,100);
analogWrite(MOTOR_2B,0);
}
//-----------------------------
void BELOK_KIRI()
{
analogWrite(MOTOR_1A,0);
analogWrite(MOTOR_1B,0);
analogWrite(MOTOR_2A,200);
analogWrite(MOTOR_2B,0);
}
//-----------------------------
void STOP()
{
analogWrite(MOTOR_1A,0);
analogWrite(MOTOR_1B,0);
analogWrite(MOTOR_2A,0);
analogWrite(MOTOR_2B,0); 
}