const int inputMidLeft = 12;
const int inputMidRight = 8;
const int inputFarLeft = 13;
const int inputFarRight = 7;

bool midLeftVal;
bool midRightVal;
bool farLeftVal;
bool farRightVal;


//definations af motorenes pins
const int motor1A = 11;
const int motor1B = 10;
const int motor2A = 6;
const int motor2B = 5;

int verdi = 0;


void setup() {
  // Defination af outpusts
    pinMode(motor1A, OUTPUT);
    pinMode(motor1B, OUTPUT);
    pinMode(motor2A, OUTPUT);
    pinMode(motor2B, OUTPUT);

    //senscore
    pinMode(inputMidLeft, INPUT);
    pinMode(inputMidRight, INPUT);
    pinMode(inputFarLeft, INPUT);
    pinMode(inputFarRight, INPUT);

    Serial.begin(9600);



}


void loop() {

  //senscore
  midLeftVal = digitalRead(inputMidLeft);
  midRightVal = digitalRead(inputMidRight);
  farLeftVal = digitalRead(inputFarLeft);
  farRightVal = digitalRead(inputFarRight);

  verdi = farLeftVal*1+midLeftVal*2+midRightVal*4+farRightVal*8;

  switch (verdi) {
    case 0;
    //bak
      analogWrite (motor1A, 0);
      analogWrite (motor1B, 255);
      analogWrite (motor2A, 0);
      analogWrite (motor2B, 255);
        break;
    /*case 9;
      //Frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;*/
    case 11;
    //frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 13;
    //frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 15;
    //Frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 6;
    //Frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 10;
    //frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 5;
    //frem
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 12;
    //Right
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 190);
      analogWrite (motor2B, 0);
        break;
     case 4;
    //Right
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 190);
      analogWrite (motor2B, 0);
        break;
    case 2;
    //Left
      analogWrite (motor1A, 190);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 3;
    //Left
      analogWrite (motor1A, 190);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 8;
    //Sharp Right
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 0);
      analogWrite (motor2B, 0);
        break;
    case 14;
    //Sharp Right
      analogWrite (motor1A, 255);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 0);
      analogWrite (motor2B, 0);
        break;
    case 1;
    //Sharp Left
      analogWrite (motor1A, 0);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
    case 7;
    //Sharp Left
      analogWrite (motor1A, 0);
      analogWrite (motor1B, 0);
      analogWrite (motor2A, 255);
      analogWrite (motor2B, 0);
        break;
  }
  }