Quant 3.0 BlackLine

static int LeftSpeed = 5;
static int RightSpeed = 10;
static int LeftDir = 6;
static int RightDir = 9;

static int LowSpeed = 50;
static int MediumSpeed = 100;
static int HighSpeed = 150;

const int Sensor_0_Pin = 0;
const int Sensor_1_Pin = 1;
const int Sensor_2_Pin = 2;
const int Sensor_3_Pin = 3;
const int Sensor_4_Pin = 4;
const int Sensor_5_Pin = 5;
const int Sensor_6_Pin = 6;
const int Sensor_7_Pin = 7;

int sensor0 = 0;
int sensor1 = 0;
int sensor2 = 0;
int sensor3 = 0;
int sensor4 = 0;
int sensor5 = 0;
int sensor6 = 0;
int sensor7 = 0;

void ReadSensors() {
  // считываем состояние датчиков
  sensor0 = digitalRead(Sensor_0_Pin);
  sensor1 = digitalRead(Sensor_1_Pin);
  sensor2 = digitalRead(Sensor_2_Pin);
  sensor3 = digitalRead(Sensor_3_Pin);
  sensor4 = digitalRead(Sensor_4_Pin);
  sensor5 = digitalRead(Sensor_5_Pin);
  sensor6 = digitalRead(Sensor_6_Pin);
  sensor7 = digitalRead(Sensor_7_Pin);
}


int config() {

  ReadSensors();

  sensor0 = sensor0 * -1;
  sensor1 = sensor1 * -1;
  sensor2 = sensor2 * -1;
  sensor3 = sensor3 * -1;

  int position = sensor0 + sensor1 + sensor2 + sensor4 + sensor5 + sensor6 + sensor7;

  Serial.println(position);

  return position;
}

void Backward() {
  //  Left Wheel
  analogWrite(LeftSpeed, MediumSpeed);
  digitalWrite(LeftDir, HIGH);
  //  Right Wheel
  analogWrite(RightSpeed, MediumSpeed);
  digitalWrite(RightDir, HIGH);
}

void Forward() {
  //  Left Wheel
  analogWrite(LeftSpeed, MediumSpeed);
  digitalWrite(LeftDir, LOW);
  //  Right Wheel
  analogWrite(RightSpeed, MediumSpeed);
  digitalWrite(RightDir, LOW);
}

void Stop() {
  //  Left Wheel
  analogWrite(LeftSpeed, 0);
  //  Right Wheel
  analogWrite(RightSpeed, 0);
}

void Right() {
  //  Left Wheel
  analogWrite(LeftSpeed, MediumSpeed);
  digitalWrite(LeftDir, HIGH);
  //  Right Wheel
  analogWrite(RightSpeed, MediumSpeed);
  digitalWrite(RightDir, LOW);
}

void Left() {
  //  Left Wheel
  analogWrite(LeftSpeed, MediumSpeed);
  digitalWrite(LeftDir, LOW);
  //  Right Wheel
  analogWrite(RightSpeed, MediumSpeed);
  digitalWrite(RightDir, HIGH);
}

void RightCircle() {
  //  Left Wheel
  analogWrite(LeftSpeed, HighSpeed);
  digitalWrite(LeftDir, LOW);
  //  Right Wheel
  analogWrite(RightSpeed, LowSpeed);
  digitalWrite(RightDir, LOW);
}

void LeftCircle() {
  //  Left Wheel
  analogWrite(LeftSpeed, LowSpeed);
  digitalWrite(LeftDir, LOW);
  //  Right Wheel
  analogWrite(RightSpeed, HighSpeed);
  digitalWrite(RightDir, LOW);
}

void setup() {
  pinMode(LeftSpeed, OUTPUT);
  pinMode(LeftDir, OUTPUT);
  pinMode(RightDir, OUTPUT);
  pinMode(RightSpeed, OUTPUT);
}

void loop() {
  int position = config()

  if (position == 0) {
    Forward();
  }
  else if (position >= 1 && position <= 2) {
    LeftCircle();
  }
  else if (position >= 3) {
    Left();
  }
  else if (position <= -1 && position >= -2) {
    RightCircle();
  }
  else if (position <= -3) {
    Right();
  }
  else {
    Forward();
  }
}