Arduino SOCD Multimode noHigh

const uint8_t upIN = 2;
const uint8_t downIN = 3;
const uint8_t leftIN = 4;
const uint8_t rightIN = 5;


const uint8_t upOUT = 6;
const uint8_t downOUT = 7;
const uint8_t leftOUT = 8;
const uint8_t rightOUT = 9;

const uint8_t jumpper1Pin = 10;
const uint8_t jumpper2Pin = 14;


uint8_t leftRead;
uint8_t downRead;
uint8_t upRead;
uint8_t rightRead;

uint8_t jumpper1Read;
uint8_t jumpper2Read;

unsigned long currentMillis;
unsigned long upPreviousMillis = 0;
unsigned long downPreviousMillis = 0;
unsigned long leftPreviousMillis = 0;
unsigned long rightPreviousMillis = 0;

uint8_t upPreviousState = 0;
uint8_t downPreviousState = 0;
uint8_t leftPreviousState = 0;
uint8_t rightPreviousState = 0;

uint8_t mode;

void setup() {

  // Serial.begin(9600);
  pinMode(leftIN, INPUT_PULLUP);
  pinMode(rightIN, INPUT_PULLUP);
  pinMode(upIN, INPUT_PULLUP);
  pinMode(downIN, INPUT_PULLUP);

  pinMode(leftOUT, INPUT);
  pinMode(rightOUT, INPUT);
  pinMode(downOUT, INPUT);
  pinMode(upOUT, INPUT);

  pinMode(jumpper1Pin, INPUT_PULLUP);
  pinMode(jumpper2Pin, INPUT_PULLUP);


  jumpper1Read = digitalRead(jumpper1Pin);
  jumpper2Read = digitalRead(jumpper2Pin);

  if (jumpper1Read && jumpper2Read)  mode = 3;
  if (!jumpper1Read && jumpper2Read) mode = 1;
  if (jumpper1Read && !jumpper2Read) mode = 2;
  if (!jumpper1Read && !jumpper2Read) mode = 0;



}

void loop() {


  currentMillis = millis();

  upRead = digitalRead(upIN);
  downRead = digitalRead(downIN);
  leftRead = digitalRead(leftIN);
  rightRead = digitalRead(rightIN);

  switch (mode)
  {
    case 0:
      outputRAW();
      break;

    case 1:
      outputSODC();
      break;

    case 2:
      outputLASTCOMMAND();
      break;

    case 3:
      outputLASTCOMMANDnSODC();
      break;

    default:
      mode = 0;
      break;
  }


}

void outputRAW() {
  if (!upRead)    pinMode(upOUT, OUTPUT);
  digitalWrite(upOUT, LOW);
  if (upRead)     pinMode(upOUT, INPUT);

  if (!downRead)  pinMode(downOUT, OUTPUT);
  digitalWrite(downOUT, LOW);
  if (downRead)   pinMode(downOUT, INPUT);

  if (!leftRead)  pinMode(leftOUT, OUTPUT);
  digitalWrite(leftOUT, LOW);
  if (leftRead)   pinMode(leftOUT, INPUT);

  if (!rightRead) pinMode(rightOUT, OUTPUT);
  digitalWrite(rightOUT, LOW);
  if (rightRead)  pinMode(rightOUT, INPUT);

}

void outputSODC() {
  if (!leftRead)
  {
    if (rightRead)
    {
      pinMode(rightOUT, INPUT);
      pinMode(leftOUT, OUTPUT);
      digitalWrite(leftOUT, LOW);
    }
    else
    {
      pinMode(rightOUT, INPUT);
      pinMode(leftOUT, INPUT);
    }
  }
  else if (!rightRead)
  {
    pinMode(leftOUT, INPUT);
    pinMode(rightOUT, OUTPUT);
    digitalWrite(rightOUT, LOW);
  }
  else
  {
    pinMode(rightOUT, INPUT);
    pinMode(leftOUT, INPUT);
  }


  if (!upRead)
  {
    pinMode(downOUT, INPUT);
    pinMode(upOUT, OUTPUT);
    digitalWrite(upOUT, LOW);
  }
  else if (!downRead)
  {
    {
      pinMode(downOUT, OUTPUT);
      digitalWrite(downOUT, LOW);
      pinMode(upOUT, INPUT);
    }
  }
  else
  {
    pinMode(upOUT, INPUT);
    pinMode(downOUT, INPUT);
  }

}

void outputLASTCOMMAND() {

  if (!upRead) {
    if (!upPreviousState) {
      upPreviousMillis = currentMillis;
      upPreviousState = HIGH;
    }
    if (!downRead) {
      if (upPreviousMillis > downPreviousMillis) {
        pinMode(upOUT, OUTPUT);
        digitalWrite(upOUT, LOW);
      }
      else
      {
        pinMode(upOUT, INPUT);
      }

    }
    else
    {
      pinMode(upOUT, OUTPUT);
      digitalWrite(upOUT, LOW);
    }
  }


  if (upRead) {
    upPreviousState = LOW;
    pinMode(upOUT, INPUT);

  }

  if (!downRead) {
    if (!downPreviousState) {
      downPreviousMillis = currentMillis;
      downPreviousState = HIGH;
    }
    if (!upRead) {
      if (downPreviousMillis > upPreviousMillis) {
        pinMode(downOUT, OUTPUT);
        digitalWrite(downOUT, LOW);
      }
      else
      {
        pinMode(downOUT, INPUT);
      }

    }
    else
    {
      pinMode(downOUT, OUTPUT);
      digitalWrite(downOUT, LOW);
    }
  }


  if (downRead) {
    downPreviousState = LOW;
    pinMode(downOUT, INPUT);

  }

  if (!leftRead) {
    if (!leftPreviousState) {
      leftPreviousMillis = currentMillis;
      leftPreviousState = HIGH;
    }
    if (!rightRead) {
      if (leftPreviousMillis > rightPreviousMillis) {

        pinMode(leftOUT, OUTPUT);
        digitalWrite(leftOUT, LOW);
      }
      else
      {
        pinMode(leftOUT, INPUT);
      }

    }
    else
    {
     pinMode(leftOUT, OUTPUT);
        digitalWrite(leftOUT, LOW);
      }
  }


  if (leftRead) {
    leftPreviousState = LOW;
    pinMode(leftOUT, INPUT);


  }
  if (!rightRead) {
    if (!rightPreviousState) {
      rightPreviousMillis = currentMillis;
      rightPreviousState = HIGH;
    }
    if (!leftRead) {
      if (rightPreviousMillis > leftPreviousMillis) {
       pinMode(rightOUT, OUTPUT);
        digitalWrite(rightOUT, LOW);
      }
      else
      {
        pinMode(rightOUT, INPUT);
      }

    }
    else
    {
      pinMode(rightOUT, OUTPUT);
      digitalWrite(rightOUT, LOW);
    }
  }


  if (rightRead) {
    rightPreviousState = LOW;
    pinMode(rightOUT, INPUT);

  }

}

void outputLASTCOMMANDnSODC() {

  if (!upRead)
  {
    pinMode(downOUT, INPUT);
    pinMode(upOUT, OUTPUT);
    digitalWrite(upOUT, LOW);
  }
  else if (!downRead)
  {
    {
      pinMode(downOUT, OUTPUT);
      digitalWrite(downOUT, LOW);
      pinMode(upOUT, INPUT);
    }
  }
  else
  {
    pinMode(upOUT, INPUT);
    pinMode(downOUT, INPUT);
  }


 if (!leftRead) {
    if (!leftPreviousState) {
      leftPreviousMillis = currentMillis;
      leftPreviousState = HIGH;
    }
    if (!rightRead) {
      if (leftPreviousMillis > rightPreviousMillis) {

        pinMode(leftOUT, OUTPUT);
        digitalWrite(leftOUT, LOW);
      }
      else
      {
        pinMode(leftOUT, INPUT);
      }

    }
    else
    {
     pinMode(leftOUT, OUTPUT);
        digitalWrite(leftOUT, LOW);
      }
  }


  if (leftRead) {
    leftPreviousState = LOW;
    pinMode(leftOUT, INPUT);


  }
  if (!rightRead) {
    if (!rightPreviousState) {
      rightPreviousMillis = currentMillis;
      rightPreviousState = HIGH;
    }
    if (!leftRead) {
      if (rightPreviousMillis > leftPreviousMillis) {
       pinMode(rightOUT, OUTPUT);
        digitalWrite(rightOUT, LOW);
      }
      else
      {
        pinMode(rightOUT, INPUT);
      }

    }
    else
    {
      pinMode(rightOUT, OUTPUT);
      digitalWrite(rightOUT, LOW);
    }
  }


  if (rightRead) {
    rightPreviousState = LOW;
    pinMode(rightOUT, INPUT);

  }


}