const int speedMotorA = 9;
const int speedMotorB = 3;
const int motorPin1  = 4;
const int motorPin2  = 7;
const int motorPin3  = 12;
const int motorPin4  = 13;

void setup() {
  Serial.begin(9600);
  pinMode(speedMotorA, OUTPUT);
  pinMode(speedMotorB, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
}
void loop(){
  TurnMotorA();
  TurnMotorB();
}


void TurnMotorA() {
  int Speed = analogRead(A2);
  Speed = Speed*0.24926686;
  Serial.println(Speed);
  analogWrite(speedMotorA,Speed);
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
}

void TurnMotorB() {
  int Speed = analogRead(A2);
  Speed = Speed*0.24926686;
  analogWrite(speedMotorB,Speed);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
}

#include <NewPing.h>
#include <Servo.h>

#define TRIG_PIN A4
#define ECHO_PIN A5
#define MAX_DISTANCE 200
NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);
Servo myservo;

const int laser = 8;
int distance = 0;
const int speedMotorA = 9;
const int speedMotorB = 3;
const int motorPin1  = 4;
const int motorPin2  = 7;
const int motorPin3  = 12;
const int motorPin4  = 13;

int hitlaser(){
  digitalWrite(laser, HIGH);
  delay(200);
  digitalWrite(laser, LOW);
}

void setup() {
  pinMode(laser, OUTPUT);
  pinMode(speedMotorA, OUTPUT);
  pinMode(speedMotorB, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
  myservo.attach(5);
  myservo.write(65);
  delay(2000);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
  distance = readPing();
  delay(100);
}

void loop() {
 int distanceR = 0;
 int distanceL =  0;
 delay(40);
 digitalWrite(laser, HIGH);
 if(distance<=50)
 {
  moveStop();
  delay(100);
  moveBackward();
  delay(300);
  moveStop();
  delay(200);
  distanceR = lookRight();
  delay(200);
  distanceL = lookLeft();
  delay(200);

  if(distanceR>=distanceL)
  {
    turnRight();
    moveStop();
  }else
  {
    turnLeft();
    moveStop();
  }
 }else
 {
  moveForward();
 }
 distance = readPing();
}

int lookRight()
{
    myservo.write(5);
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(65);
    return distance;
}

int lookLeft()
{
    myservo.write(150);
    delay(500);
    int distance = readPing();
    delay(100);
    myservo.write(65);
    return distance;
    delay(100);
}

int readPing() {
  delay(70);
  int cm = sonar.ping_cm();
  if(cm==0)
  {
    cm = 250;
  }
  return cm;
}

void moveStop() {
    analogWrite(speedMotorA, 0);
    analogWrite(speedMotorB, 0);
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motorPin3, LOW);
    digitalWrite(motorPin4, LOW);
  }

void moveForward() {
    int Speed = analogRead(A2);
    Speed = Speed*0.24926686;
    Serial.println(Speed);
    analogWrite(speedMotorA,Speed);
    analogWrite(speedMotorB,Speed);
    digitalWrite(motorPin1, HIGH);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motorPin3, HIGH);
    digitalWrite(motorPin4, LOW);
}

void moveBackward() {
    int Speed = analogRead(A2);
    Speed = Speed*0.24926686;
    Serial.println(Speed);
    analogWrite(speedMotorA,Speed);
    analogWrite(speedMotorB,Speed);
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, HIGH);
    digitalWrite(motorPin3, LOW);
    digitalWrite(motorPin4, HIGH);
}

void turnRight() {
  int Speed = analogRead(A2);
  Speed = Speed*0.24926686;
  Serial.println(Speed);
  analogWrite(speedMotorA,Speed);
  analogWrite(speedMotorB,Speed);
  digitalWrite(motorPin1, HIGH);
  digitalWrite(motorPin2, LOW);
  digitalWrite(motorPin3, LOW);
  digitalWrite(motorPin4, HIGH);
  delay(300);
  moveForward();
}

void turnLeft() {
  int Speed = analogRead(A2);
  Speed = Speed*0.24926686;
  Serial.println(Speed);
  analogWrite(speedMotorA,Speed);
  analogWrite(speedMotorB,Speed);
  digitalWrite(motorPin1, LOW);
  digitalWrite(motorPin2, HIGH);
  digitalWrite(motorPin3, HIGH);
  digitalWrite(motorPin4, LOW);
  delay(300);
  moveForward();
}