#include <QuantSensors.h>
QuantLine line;

void setup(){
  pinMode(6, OUTPUT);
  pinMode(10, OUTPUT);
  Serial.begin(9600);
  line.begin(true);
  line.setLevel(100);
}

void loop(){
  for (int i = 0; i < 8; i++)
    Serial.print(String(line.readLineSensorBool(i))+"\t");
  Serial.println();
  // сенсор лінії
  // left | forward  | right
  // 0  1  2  3  4  5  6  7  
   if(line.readLineSensorBool(0)) l();
   if(line.readLineSensorBool(1)) l();
   if(line.readLineSensorBool(2)) f();
   if(line.readLineSensorBool(3)) f();
   if(line.readLineSensorBool(4)) f();
   if(line.readLineSensorBool(5)) f();
   if(line.readLineSensorBool(6)) r();
   if(line.readLineSensorBool(7)) r();
}

void f(){
  digitalWrite(6, LOW);   analogWrite(5, 70);
  digitalWrite(10, HIGH);  analogWrite(9, 70);
}

void r(){
  digitalWrite(6, LOW);   analogWrite(5, 40);
  digitalWrite(10, LOW);  analogWrite(9, 40);
}

void s(){
  digitalWrite(6, HIGH);   analogWrite(5, 255);
  digitalWrite(10, HIGH);  analogWrite(9, 255);
}

void l()
{
  digitalWrite(6, HIGH);
  analogWrite(5, 40);
  digitalWrite(10, HIGH);
  analogWrite(9, 40);
}

void b()
{
  digitalWrite(6, HIGH);
  analogWrite(5, 100);
  digitalWrite(10, LOW);
  analogWrite(9, 100);
}