const int trigPin1 = 11; // orta sensör
const int echoPin1 = 10; // orta sensör
const int trigPin2 = A3;  // sağ sensör
const int echoPin2 = A4; // sağ sensör
const int trigPin3 = A2; // sol sensör
const int echoPin3 = A5; // sol sensör
const int in1 = 4; // motor 1 ileri
const int in2 = 3; // motor 1 geri
const int in3 = 9; // motor 2 ileri
const int in4 = 8; // motor 2 geri
const int enA = 6; // motor 1 hız
const int enB = 5; // motor 2 hız

#define PWM 150 // motorlarımızın hızları

void setup()
{
  pinMode(trigPin1, OUTPUT); // cıkış olarak
  pinMode(echoPin1, INPUT);  // giriş olarak
  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);
  pinMode(trigPin3, OUTPUT);
  pinMode(echoPin3, INPUT);
  pinMode (in1, OUTPUT);
  pinMode (in2, OUTPUT);
  pinMode (in3, OUTPUT);
  pinMode (in4, OUTPUT); // çıkış olarak
  pinMode (enA, OUTPUT);
  pinMode (enB, OUTPUT);
}

void loop()
{
  if (FrontSensor() < 8) {
    stop();
    if (RightSensor() < 8) {
      turn_left();
      delay(1500);
      stop();
    } else {
      turn_right();
      delay(1500);
      forward();
    }
  } else {
    if (RightSensor() > 10) {
      turn_right();
      delay(300);
      forward();
    } else if (RightSensor() < 5) {
      turn_left();
      delay(300);
      forward();
      delay(300);
    } else if (LeftSensor() < 5) {
      turn_right();
      delay(300);
      forward();
      delay(300);
    } else {
      forward();
    }
  }
}

void forward()
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, PWM);
  analogWrite(enB, PWM);
}

void turn_left()
{
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA, PWM);
  analogWrite(enB, PWM);
}

void turn_right()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enA, PWM);
  analogWrite(enB, PWM);
}

void reverse()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enA, PWM);
  analogWrite(enB, PWM);
}

void stop()
{
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(enA, LOW);
  analogWrite(enB, LOW);
}

long FrontSensor()
{
  long dur;
  digitalWrite(trigPin1, LOW);
  delayMicroseconds(3);
  digitalWrite(trigPin1, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin1, LOW);
  dur = pulseIn(echoPin1, HIGH);
  return (dur / 2) * 0.0343;
}

long RightSensor()
{
  long dur;
  digitalWrite(trigPin2, LOW);
  delayMicroseconds(3);
  digitalWrite(trigPin2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin2, LOW);
  dur = pulseIn(echoPin2, HIGH);
  return (dur / 2) * 0.0343;
}

long LeftSensor()
{
  long dur;
  digitalWrite(trigPin3, LOW);
  delayMicroseconds(3);
  digitalWrite(trigPin3, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin3, LOW);
  dur = pulseIn(echoPin3, HIGH);
  return (dur / 2) * 0.0343;
}