LINE FOLLOWER

#define sensorKiri 4
#define sensorKanan 2

#define motorKiri_1 11
#define motorKiri_2 10
#define motorKanan_2 8
#define motorKanan_1 9

#define motorKiri 6
#define motorKanan 5

int vnormal = 60;
int vbelok = 90;

void setup()
{
    Serial.begin(9600);
    pinMode(sensorKiri, INPUT);
    pinMode(sensorKanan, INPUT);

    pinmode(motorKiri_1, OUTPUT);
    pinmode(motorKiri_2, OUTPUT);

    pinmode(motorKanan_2, OUTPUT);
    pinmode(motorKanan_1, OUTPUT);

    pinmode(motorKanan, OUTPUT);
    pinmode(motorKiri, OUTPUT);
}

void loop()
{
    if(digitalRead(sensorKiri) && digitalRead(sensorKanan))
    {
    digitalWrite(motorKiri_1, LOW);
    digitalWrite(motorKiri_2, LOW);
    digitalWrite(motorKanan_1, LOW);
    digitalWrite(motorKanan_2, LOW);
    Serial.println("Berhenti");
    delay(10);
    }
}
if(!(digitalRead(sensorKiri)) && digitalRead(sensorKanan))
{
    digitalWrite(motorKiri_1, HIGH);
    digitalWrite(motorKiri_2, LOW);

    digitalWrite(motorKanan_1, LOW);
    digitalWrite(motorKanan_2, LOW);

    analogWrite(motorKiri, vbelok);
    analogWrite(motorKanan, vnormal);

    delay(10);
    Serial.println("Belok kanan");
}
if(digitalRead(sensorKiri) && !(digitalRead(sensorKanan)))
{
    digitalWrite(motorKiri_1, LOW);
    digitalWrite(motorKiri_2, LOW);

    digitalWrite(motorKanan_1, HIGH);
    digitalWrite(motorKanan_2, LOW);

    analogWrite(motorKiri, vnormal);
    analogWrite(motorKanan, vbelok);

    delay(10);
    Serial.println("Belok kiri");
}
if(!(digitalRead(sensorKiri)) && digitalRead(sensorKanan))
{
    digitalWrite(motorKiri_1, HIGH);
    digitalWrite(motorKiri_2, LOW);

    digitalWrite(motorKanan_1, HIGH);
    digitalWrite(motorKanan_2, LOW);

    analogWrite(motorKiri, vnormal);
    analogWrite(motorKanan, vnormal);

    delay(10);
    Serial.println("maju");
}
}