code

int capG2 = 5;
int capG1 = 4;
int capD1 = 6;
int capD2 = 7;
int motG1 = 12, motG2 = 3, motD1 = 13, motD2 = 11;

void setup ()
{
  Serial.begin (9550);
  pinMode (capG1, INPUT);
  pinMode (capG2, INPUT);
  pinMode (capD1, INPUT);
  pinMode (capD2, INPUT);
  pinMode (motD1, OUTPUT);
  pinMode (motD2, OUTPUT);
  pinMode (motG1, OUTPUT);
  pinMode (motG2, OUTPUT);
}

void droit ()
{
  digitalWrite (motD1, LOW);
  analogWrite (motD2, 55);
  analogWrite (motG1, 55);
  digitalWrite (motG2, LOW);
}

void gauche ()
{
  analogWrite (motD1, 55);
  digitalWrite (motD2, LOW);
  digitalWrite (motG1, LOW);
  nalogWrite (motG2, 55);
}

void avance ()
{
  digitalWrite (motD1, LOW);
  analogWrite (motD2, 55);
  digitalWrite (motG1, LOW);
  nalogWrite (motG2, 55);
}

void loop ()
{
  int capG1_val = digitalRead (capG1);
  int capG2_val = digitalRead (capG2);
  int capD1_val = digitalRead (capD1);
  int capD2_val = digitalRead (capD2);

  if ( (((capG2_val) && (capD1_val)) && ((!capG1_val) && (!capD2_val))) || (((!capG2_val) && (!capD1_val)) && ((!capG1_val) && (!capD2_val))) || (((!capG2_val) && (!capD1_val)) && ((capG1_val) && (capD2_val))) )
    {
      Serial.println ("NICHAN");
      avance();
    }
  else if (((!capG1_val) && (!capG2_val)) && ((capD1_val) && (!capD2_val)) || ((!capG1_val) && (!capG2_val)) && ((!capD1_val) && (capD2_val)) )
    {
      Serial.println ("GAUCHE");
      gauche();

    }
  else if (((!capG1_val) && (capG2_val)) && ((!capD1_val) && (!capD2_val)) || ((capG1_val) && (!capG2_val)) && ((!capD1_val) && (!capD2_val)) )
    {
      Serial.println ("DROIT");
      droit();
    }
}