#define distanceForward A0
#define distanceLeft A1
#define distanceRight A2
#define distanceRightAngle A3
#define distanceLeftAngle A4
#define distanceBack A5
int talk = 2;






void setup(){
  Serial.begin(9600);
  pinMode(talk, OUTPUT);
  pinMode(distanceForward, INPUT);
  // / Ir distance sensor pin for input signal to arduino, Front Facing
  pinMode(distanceLeftAngle, INPUT);
  // / Ir distance sensor pin for input signal to arduino, Left Angle
  pinMode(distanceRightAngle, INPUT);
  // / Ir distance sensor pin for input signal to arduino, Right Angle
  pinMode(distanceLeft, INPUT);
  // / Ir distance sensor pin for input signal to arduino, Left
  pinMode(distanceRight, INPUT);
  // / Ir distance sensor pin for input signal to arduino, Right
  pinMode(distanceBack, INPUT);
  // / Ir distance sensor pin for input signal to arduino, back

}

void hall_roam(){

   Serial.write("forward");

   if (analogRead(distanceLeftAngle) < 30){
      Serial.write("right");
      if (analogRead(distanceLeftAngle) > 30){
         Serial.write("forward");
   }

   if (analogRead(distanceRightAngle) < 30){
     Serial.write("left");
     if (analogRead(distanceRightAngle) < 30){
            Serial.write("forward");
   }

   if (analogRead(distanceForward) < 60){
       Serial.write("stop");
       if ((analogRead(distanceLeft) < 60) && (analogRead(distanceRight) < 60)){
           Serial.write("left");
           if (analogRead(distanceForward) > 60){
                Serial.write("stop");
           }
       }
   }
   if ((analogRead(distanceLeft) > 60) && (analogRead(distanceRight) > 60)){
        Serial.write("left");
        if (analogRead(distanceForward) > 60){
             Serial.write("stop");
        }
     }
   if ((analogRead(distanceLeft) > 60) && (analogRead(distanceRight) < 60)){
      Serial.write("left");
          if (analogRead(distanceForward) > 60){
               Serial.write("stop");
     }
   }
   if ((analogRead(distanceLeft) > 60) && (analogRead(distanceRight) < 60)){
       Serial.write("left");
       if (analogRead(distanceForward) > 60){
          Serial.write("stop");
   }

   }
   if ((analogRead(distanceLeft) < 60) && (analogRead(distanceRight) > 60)){
      Serial.write("right");
      if (analogRead(distanceForward) > 60){
          Serial.write("stop");
   }

 }

   else{
       Serial.write("forward");
    }

   }
   void roam(){
      Serial.write("forward");
      if (analogRead(distanceForward) < 60){
         Serial.write("stop");
         Serial.write("left");
         if (analogRead(distanceForward) > 60){
             Serial.write("stop");
             Serial.write("forward");
      }

    }

  }
   void talkbb8(){
      pinMode(talk, HIGH);
      pinMode(talk, LOW);
   }


    void chill(){
       Serial.write("stop");
       talkbb8();
    }
    void loop(){

        if ((analogRead(distanceLeft) < 60) && (analogRead(distanceRight) < 60)){
            hall_roam();
        }
        else if ((analogRead(distanceForward) < 60) && (analogRead(distanceBack) < 60)){
            Serial.write("left");
            if ((analogRead(distanceLeft) < 60) && (analogRead(distanceRight) < 60)){
                Serial.write("stop");
                hall_roam();
         }
        }

        else
        {
        roam();
         }
        }