Line Follower ESP AMICA + SHIELD

 void Stop() {
  // Motor Kiri
  pinMode(5,OUTPUT);
   pinMode(0,OUTPUT);
   analogWrite(5,0);
   analogWrite(0,0);
  // Motor Kanan
  pinMode(4,OUTPUT);
   pinMode(2,OUTPUT);
   analogWrite(4,0);
   analogWrite(2,0);
}

void Forward() {
  pinMode(5,OUTPUT);
   pinMode(0,OUTPUT);
   analogWrite(5,125);
   analogWrite(0,0);
  pinMode(4,OUTPUT);
   pinMode(2,OUTPUT);
   analogWrite(4,125);
   analogWrite(2,0);
}

void Left() {
  pinMode(5,OUTPUT);
   pinMode(0,OUTPUT);
   analogWrite(5,0);
   analogWrite(0,95);
  pinMode(4,OUTPUT);
   pinMode(2,OUTPUT);
   analogWrite(4,95);
   analogWrite(2,0);
}

void Right() {
  pinMode(5,OUTPUT);
   pinMode(0,OUTPUT);
   analogWrite(5,95);
   analogWrite(0,0);
  pinMode(4,OUTPUT);
   pinMode(2,OUTPUT);
   analogWrite(4,0);
   analogWrite(2,95);
}


void setup() {
  pinMode(12, INPUT);
  pinMode(13, INPUT);

}

void loop() {
    if (digitalRead(12) == 1 & digitalRead(13) == 1) {
      Stop();
    }
    if (digitalRead(12) == 0 & digitalRead(13) == 1) {
      Right();
    }
    if (digitalRead(12) == 1 & digitalRead(13) == 0) {
      Left();
    }
    if (digitalRead(12) == 0 & digitalRead(13) == 0) {
      Forward();
    }

}