#include <Stepper.h>

const int stepsPerRevolution = 200;

Stepper leftMotor(stepsPerRevolution, 8, 9, 10, 11);
Stepper rightMotor(stepsPerRevolution, 7, 6, 5, 3);

int leftSensor = A0;
int rightSensor = A1;

int threshold = 525;


int fullSpeed = 100;   
int halfSpeed = 50;

void setup() {
  Serial.begin(9600);
}

void loop() {
 int leftValue = analogRead(leftSensor);
int rightValue = analogRead(rightSensor);

bool leftOnLine = leftValue < threshold;
bool rightOnLine = rightValue < threshold;


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


Serial.print("Left On Line: ");
Serial.print(leftOnLine ? "Yes" : "No");
Serial.print(" || Right On Line: ");
Serial.println(rightOnLine ? "Yes" : "No");

if(leftOnLine && rightOnLine){
    Serial.println("Moving Forward");
} else if(!leftOnLine && !rightOnLine){
    Serial.println("Stopped - Both sensors off line");
} else if(leftOnLine && !rightOnLine){
    Serial.println("Turning Right");
} else if(!leftOnLine && rightOnLine){
    Serial.println("Turning Left");
}

delay(100);
}