#define LS 10      // left sensor <ir ko output>
#define RS 11     // right sensor <ir ko output>


#define LM1 4       // left motor <positive>
#define LM2 5       // left motor < black / negative >
#define RM1 6       // right motor <positive>
#define RM2 7       // right motor < black / negative >


#define led 13
void setup()
{

    Serial.begin(9600);
   pinMode(LS, OUTPUT);
  pinMode(RS, OUTPUT);

  digitalWrite(LS, LOW);
  digitalWrite(RS, LOW);

  delay(100);

  pinMode(LS, INPUT);
  pinMode(RS, INPUT);

  pinMode(LM1, OUTPUT);
  pinMode(LM2, OUTPUT);
  pinMode(RM1, OUTPUT);
  pinMode(RM2, OUTPUT);

  pinMode(led, OUTPUT);

  digitalWrite(led, HIGH);
}

void loop()
{

    Serial.println("Car is ready.");
    //duitai ma 1 aayo vane yo hune.
  if(digitalRead(LS) && digitalRead(RS))     // Move Forward
  {

      Serial.println("Car is going forward");
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);



  }
  //left ko ma 0 aayo vane yo garne
  if(!(digitalRead(LS)) && digitalRead(RS))     // Turn right
  {
      Serial.println("Car is going right");
    digitalWrite(LM1, LOW);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }
  //right ko ma 0 aayo vane yo garne
  if(digitalRead(LS) && !(digitalRead(RS)))     // turn left
  {
      Serial.println("Car is going left");
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, LOW);
    digitalWrite(RM2, LOW);
  }

  //kunai pani direction ma xaina vane yo hos
  if(!(digitalRead(LS)) && !(digitalRead(RS)))     // stop
  {
      Serial.println("Car is stopping");
    digitalWrite(LM1, LOW);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, LOW);
    digitalWrite(RM2, LOW);
  }

  delay(100);
}