pptmi

#define M1IN1 2
#define M1IN2 4
#define M2IN3 7
#define M2IN4 6
#define EnA 3
#define EnB 5
int Sen[]={A0,A1,A2,A3,A4};
int ReadSen[5]={};
int tempSen[]={1,1,0,1,1};
int ch[]={1,1,0,1,1};
int Speed=0,x=0;
char lastDir='F';

boolean array_cmp(int *a, int *b, int len_a, int len_b){
     int n;
     if (len_a != len_b) return false;


     for (n=0;n<len_a;n++) if (a[n]!=b[n]) return false;

     return true;
}
void setup() {
  // put your setup code here, to run once:
for(int Motor=2;Motor<8;Motor++)// For Motor OutPut From Pin 2 to Pin 7
{
  pinMode(Motor,OUTPUT);
}
pinMode(13,OUTPUT);digitalWrite(13,HIGH);//Vcc for sensor
pinMode(12,OUTPUT);digitalWrite(12,HIGH);//Vcc for sensor
for(int Sensor=0;Sensor<5;Sensor++)// For Sensor Input From A0 To A4
{
  pinMode(Sen[Sensor],INPUT);
}
Serial.begin(9600); //Enable Serial Communications

//////////////////////////////////////////////////////////
for(int temp=0;temp<5;temp++)
{
  Serial.print(digitalRead(Sen[temp]));
 ReadSen[temp]=digitalRead(Sen[temp]);
  tempSen[temp]=ReadSen[temp];
}
Serial.println();

//Timer On & OverFollow interrupt
TIMSK2 = (TIMSK2 & B11111110) | 0x01;
TCCR2B = (TCCR2B & B11111000) | 0x07;
}
int MoveF(int Speed)
{
  digitalWrite(M1IN1,HIGH);
  digitalWrite(M1IN2,LOW);
  digitalWrite(M2IN3,HIGH);
  digitalWrite(M2IN4,LOW);
  analogWrite(EnA,Speed);
  analogWrite(EnB,Speed+20);

}
int MoveR(int Speed)
{
  digitalWrite(M1IN1,HIGH);
  digitalWrite(M1IN2,LOW);
  digitalWrite(M2IN3,HIGH);
  digitalWrite(M2IN4,LOW);
  analogWrite(EnA,Speed-8);
  analogWrite(EnB,0);

}
int MoveL(int Speed)
{
  digitalWrite(M1IN1,HIGH);
  digitalWrite(M1IN2,LOW);
  digitalWrite(M2IN3,HIGH);
  digitalWrite(M2IN4,LOW);
  analogWrite(EnA,0);
  analogWrite(EnB,Speed-5);

}
int MoveS(int Speed)
{
  digitalWrite(M1IN1,HIGH);
  digitalWrite(M1IN2,LOW);
  digitalWrite(M2IN3,HIGH);
  digitalWrite(M2IN4,LOW);
  analogWrite(EnA,0);
  analogWrite(EnB,0);

}

void loop() {
  // put your main code here, to run repeatedly:
  //1-11011
  if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==0&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    Serial.print("MoveF");
    MoveF(Speed);
    lastDir='F';
  }
  //////////////////////////////////////
  //Move Left
  //2-01111
  else if(ReadSen[0]==0&&ReadSen[1]==1&&ReadSen[2]==1&&ReadSen[3]==1&&ReadSen[4]==1)
  {
  delay(250);
    //Serial.print("MoveRR");
    lastDir='L';
    MoveL(Speed+30);
  }
  //3-00111
  else if(ReadSen[0]==0&&ReadSen[1]==0&&ReadSen[2]==1&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    lastDir='L';
    MoveL(Speed);


  }
  //4-00011
  else if(ReadSen[0]==0&&ReadSen[1]==0&&ReadSen[2]==0&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    MoveL(Speed);
    lastDir='L';
  }
  //5-01011
  else if(ReadSen[0]==0&&ReadSen[1]==1&&ReadSen[2]==0&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    MoveL(Speed);
    lastDir='L';

  }
  //6-10011
  else if(ReadSen[0]==1&&ReadSen[1]==0&&ReadSen[2]==0&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    MoveL(Speed);
    lastDir='L';

  }
  //7-10111
  else if(ReadSen[0]==1&&ReadSen[1]==0&&ReadSen[2]==1&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    MoveL(Speed);
    lastDir='L';

  }
  ///////////////////////////////////////////////////////
  //Move Right
  //8-11110
  else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==1&&ReadSen[3]==1&&ReadSen[4]==0)
  {
    delay(250);
    MoveR(Speed+30);
    lastDir='R';

  }
  //9-11100
 else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==1&&ReadSen[3]==0&&ReadSen[4]==0)
  {
    MoveR(Speed);
    lastDir='R';

  }
  //10-11000
  else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==0&&ReadSen[3]==0&&ReadSen[4]==0)
  {
    MoveR(Speed);
    lastDir='R';

  }
  //11-11010
  else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==0&&ReadSen[3]==1&&ReadSen[4]==0)
  {
    MoveR(Speed);
    lastDir='R';

  }
  //12-11001
   else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==0&&ReadSen[3]==0&&ReadSen[4]==1)
  {
    MoveR(Speed);
    lastDir='R';

  }
  //13-11101
   else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==1&&ReadSen[3]==0&&ReadSen[4]==1)
  {
    MoveR(Speed);
    lastDir='R';

  }
  /////////////////////////////////////////////////////////////
  //14-11111 With Move
  else if(ReadSen[0]==1&&ReadSen[1]==0&&ReadSen[2]==0&&ReadSen[3]==0&&ReadSen[4]==0)
{
  MoveR(Speed);
  lastDir='R';
}
else if(ReadSen[0]==1&&ReadSen[1]==0&&ReadSen[2]==0&&ReadSen[3]==0&&ReadSen[4]==0)
{
  MoveL(Speed);lastDir='L';
}
//16-00001
else if(ReadSen[0]==0&&ReadSen[1]==1&&ReadSen[2]==1&&ReadSen[3]==0&&ReadSen[4]==1)
{
  MoveL(Speed);lastDir='L';
}
else if(ReadSen[0]==0&&ReadSen[1]==0&&ReadSen[2]==0&&ReadSen[3]==1&&ReadSen[4]==1)
{
  MoveL(Speed);
  lastDir='L';
}
//17-01110
   else if(ReadSen[0]==1&&ReadSen[1]==1&&ReadSen[2]==1&&ReadSen[3]==1&&ReadSen[4]==1)
  {
    TIMSK2 = (TIMSK2 & B1