int back_motor_low = 8;
int back_motor_high = 9;
int back_motor_enable = 10;
int front_motor_low = 13;
int front_motor_high = 12;
int front_motor_enable = 11;

int IR_sensor_IS471F_pin = 2;
int sensor_status = 0;

int timeout = 0;
int toggler = 0;

void front_motor_turn_left()
{
  digitalWrite(front_motor_low, HIGH);
  digitalWrite(front_motor_high, LOW);
  digitalWrite(front_motor_enable, HIGH);
}

void front_motor_turn_right()
{
  digitalWrite(front_motor_low, LOW);
  digitalWrite(front_motor_high, HIGH);
  digitalWrite(front_motor_enable, HIGH);
}

void front_motor_turn_off()
{
  digitalWrite(front_motor_enable, LOW);
}

void back_motor_run()
{
  digitalWrite(back_motor_enable, HIGH);
}

void back_motor_stop()
{
  digitalWrite(back_motor_enable, LOW);
}


void setup() {
  pinMode(IR_sensor_IS471F_pin, INPUT);
  pinMode(back_motor_low, OUTPUT);
  pinMode(back_motor_high, OUTPUT);
  pinMode(back_motor_enable, OUTPUT);
  pinMode(front_motor_low, OUTPUT);
  pinMode(front_motor_high, OUTPUT);
  pinMode(front_motor_enable, OUTPUT);

  digitalWrite(back_motor_low, HIGH);
  digitalWrite(back_motor_high, LOW);
  digitalWrite(back_motor_enable, LOW);
  digitalWrite(front_motor_low, HIGH);
  digitalWrite(front_motor_high, LOW);
  digitalWrite(front_motor_enable, LOW);
}


void loop() {
  sensor_status = digitalRead(IR_sensor_IS471F_pin);

  if(toggler == 0)
  {
    toggler = 1;
    back_motor_run();
  }
  else
  {
    back_motor_stop();
    toggler = 0;
  }

  if (sensor_status == HIGH)
  {
    front_motor_turn_left();
    timeout++;
  }
  else
  {
    front_motor_turn_right();
  }

  delay(10);

  if(timeout > 300)
  {
//back_motor_stop();

  }
}