void setup () {
 pinMode(9, OUTPUT);   // LED1
 pinMode(8, OUTPUT);   // LED2
 pinMode(6, OUTPUT);  // LED3
 pinMode(12, OUTPUT);  //LED4
 pinMode(1, OUTPUT);  // LED5
 pinMode(0, OUTPUT);   // LED6

pinMode(10,OUTPUT);// Motors 1
 pinMode(11,OUTPUT);// Motors 2
 pinMode(4,OUTPUT);// Direction 1
 pinMode(2,OUTPUT);// Direction 2

pinMode(5,INPUT);// Button 1
digitalWrite(5,HIGH); // Button 1
pinMode(13,INPUT);// Button 2
digitalWrite(13,HIGH); // Button 2

#define led1ON   digitalWrite(1,HIGH);
#define led1OFF  digitalWrite(1,LOW);
#define led2ON   digitalWrite(0,HIGH);
#define led2OFF  digitalWrite(0,LOW);
#define led3ON   digitalWrite(12,HIGH);
#define led3OFF  digitalWrite(12,LOW);
#define led4ON   digitalWrite(6,HIGH);
#define led4OFF  digitalWrite(6,LOW);
#define led5ON   digitalWrite(8,HIGH);
#define led5OFF  digitalWrite(8,LOW);
#define led6ON   digitalWrite(9,HIGH);
#define led6OFF  digitalWrite(9,LOW);

#define button1 !digitalRead(5)
#define button2 !digitalRead(13)

#define sen1 analogRead(A5) >150
#define sen2 analogRead(A4) >150
#define sen3 analogRead(A3) >150
#define sen4 analogRead(A2) >150
#define sen5 analogRead(A1) >150
#define sen6 analogRead(A0) >150



Serial.begin(9600);
}
void DriveForward (int leftS , int rightS) {
analogWrite(10,abs(leftS-255));// Motors 1 (Kreisais)
analogWrite(11,rightS);// Motors 2 (Labais)
digitalWrite(2,HIGH); // Kreis� Motora Direction
digitalWrite(4,LOW); }// Lab� Motora Direction

void DriveBackward (int leftS , int rightS) {
analogWrite(10,leftS);// Motors 1 (Kreisais)
analogWrite(11,abs(rightS-255));// Motors 2 (Labais)
digitalWrite(2,LOW); // Kreis� Motora Direction
digitalWrite(4,HIGH); }// Lab� Motora Direction

void DriveLeft (int leftS , int rightS) {
analogWrite(10,leftS);// Motors 1 (Kreisais)
analogWrite(11,rightS);// Motors 2 (Labais)
digitalWrite(2,LOW); // Kreis� Motora Direction
digitalWrite(4,LOW); }// Lab� Motora Direction

void DriveRight (int leftS , int rightS) {
analogWrite(10,abs(leftS-255));// Motors 1 (Kreisais)
analogWrite(11,abs(rightS-255));// Motors 2 (Labais)
digitalWrite(2,HIGH); // Kreis� Motora Direction
digitalWrite(4,HIGH); // Lab� Motora Direction
}

int senstate = 0;
int prevsenstate = 0;


void loop(){

  if(sen1){led1ON;}else{led1OFF;}
   if(sen2){led2ON;}else{led2OFF;}
    if(sen3){led3ON;}else{led3OFF;}
     if(sen4){led4ON;}else{led4OFF;}
      if(sen5){led5ON;}else{led5OFF;}
       if(sen6){led6ON;}else{led6OFF;}

  if (button1){
   while(1){
    if(senstate != 1){prevsenstate = senstate;}

  if(sen1){led1ON;}else{led1OFF;}
   if(sen2){led2ON;}else{led2OFF;}
    if(sen3){led3ON;}else{led3OFF;}
     if(sen4){led4ON;}else{led4OFF;}
      if(sen5){led5ON;}else{led5OFF;}
       if(sen6){led6ON;}else{led6OFF;}

   if(sen1==0 && sen2==0 && sen3==0 && sen4==0 && sen5==0 && sen6==0){senstate = 1;}
    if(sen1==1 && sen2==0 && sen3==0 && sen4==0 && sen5==0 && sen6==0){senstate = 2;}
     if(sen1==0 && sen2==1 && sen3==0 && sen4==0 && sen5==0 && sen6==0){senstate = 3;}
      if(sen1==0 && sen2==0 && sen3==1 && sen4==0 && sen5==0 && sen6==0){senstate = 4;}
       if(sen1==0 && sen2==0 && sen3==0 && sen4==1 && sen5==0 && sen6==0){senstate = 5;}
        if(sen1==0 && sen2==0 && sen3==0 && sen4==0 && sen5==1 && sen6==0){senstate = 6;}
         if(sen1==0 && sen2==0 && sen3==0 && sen4==0 && sen5==0 && sen6==1){senstate = 7;}
          if(sen1==0 && sen2==0 && sen3==0 && sen4==0 && sen5==1 && sen6==1){senstate = 8;}
           if(sen1==0 && sen2==0 && sen3==0 && sen4==1 && sen5==1 && sen6==0){senstate = 9;}
            if(sen1==0 && sen2==0 && sen3==1 && sen4==1 && sen5==0 && sen6==0){senstate = 10;}
             if(sen1==0 && sen2==1 && sen3==1 && sen4==0 && sen5==0 && sen6==0){senstate = 11;}
              if(sen1==1 && sen2==1 && sen3==0 && sen4==0 && sen5==0 && sen6==0){senstate = 12;}
               if(sen1==1 && sen2==1 && sen3==1 && sen4==1 && sen5==1 && sen6==1){senstate = 13;}


   switch(senstate){

    case 1: DriveForward (230,230); // 000000
       break;
       case 2: DriveLeft (30,250); // 100000
       break;
       case 3: DriveLeft (20,250); // 010000
       break;
       case 4: DriveLeft (10,250); // 001000
       break;
      case 5: DriveRight (250,10); // 000100
       break;
      case 6: DriveRight (250,20); // 000010
       break;
      case 7: DriveRight (250,30); // 000001
       break;
      case 8: DriveRight (250,20); // 000011
       break;
      case 9: DriveRight (250,10); // 000110
       break;
   case 10: DriveForward (230,230); // 001100
       break;
      case 11: DriveLeft (20,250); // 011000
       break;
       case 12: DriveLeft(30,250); // 110000
       break;
    case 13: DriveForward(230,230); // 111111
       break;

    if (button2){

  if(sen1){led1ON;}else{led1OFF;}
   if(sen2){led2ON;}else{led2OFF;}
    if(sen3){led3ON;}else{led3OFF;}
     if(sen4){led4ON;}else{led4OFF;}
      if(sen5){led5ON;}else{led5OFF;}
       if(sen6){led6ON;}else{led6OFF;}

        }
      }
    }
  }
}