#include <Stepper.h>


#define STEPS 200

// Stepper motors setup
Stepper leftMotor(STEPS, 8, 9, 10, 11);
Stepper rightMotor(STEPS, 4, 5, 6, 7);

// Light sensors
#define LEFT_SENSOR A0
#define RIGHT_SENSOR A1

// Threshold for black line detection
int thresholdValue = 450; 

void setup() {
  Serial.begin(9600);
  leftMotor.setSpeed(50);   
  rightMotor.setSpeed(50);  
  Serial.println("Line Following Robot Ready!");
}

void loop() {
  int leftValue = analogRead(LEFT_SENSOR);
  int rightValue = analogRead(RIGHT_SENSOR);

  Serial.print("Left: "); Serial.print(leftValue);
  Serial.print(" | Right: "); Serial.println(rightValue);

  bool leftBlack = leftValue < thresholdValue;
  bool rightBlack = rightValue < thresholdValue;


  if (leftBlack && rightBlack) {
    moveForward();
  }
  else if (!leftBlack && !rightBlack) {
    stopMotors();
  }
  else if (leftBlack && !rightBlack) {
    turnLeft();
  }
  else if (!leftBlack && rightBlack) {
    turnRight();
  }

  delay(100);
}


void moveForward() {
  leftMotor.step(10);   
  rightMotor.step(10);
}

void stopMotors() {

}

void turnLeft() {
  leftMotor.step(0);     
  rightMotor.step(5);    
}

void turnRight() {
  leftMotor.step(5);     
  rightMotor.step(0);    
}