int A_plus 4
int B_plus 5
int A_minus 6
int B_minus 7

unsigned long T = 0;
unsigned long T1 = 0;
unsigned long readValue = 0;
bool F0,F1,F2,F3,F4,F5,F6,F7

void setup()
{
  pinMode(A_plus,OUTPUT);
  pinMode(B_plus,OUTPUT);
  pinMode(A_minus,OUTPUT);
  pinMode(B_minus,OUTPUT);
  F0 = 1;
  F1 = 0;
  F2 = 0;
  F3 = 0;
  F4 = 0;
  F5 = 0;
  F6 = 0;
  F7 = 0;
  T = millis();
  digitalWrite(A_plus,HIGH);
}

void loop()
{
  readValue = analogRead(A5);
  T1 = map(readValue,4,1023,3,200);

    if(F0)
    {
      if(millis() - T > T1)
      {
        digitalWrite(B_minus,HIGH);
        F0=0;
        F1=1;
        T = millis();
      }
    }

    if(F1)
    {
      if(millis() - T > T1)
      {
        digitalWrite(A_plus,LOW);
        F1=0;
        F2=1;
        T = millis();
      }
    }

    if(F2)
    {
      if(millis() - T > T1)
      {
        digitalWrite(A_minus,HIGH);
        F2=0;
        F3=1;
        T = millis();
      }
    }

    if(F3)
    {
      if(millis() - T > T1)
      {
        digitalWrite(B_minus,LOW);
        F3=0;
        F4=1;
        T = millis();
      }
    }

    if(F4)
    {
      if(millis() - T > T1)
      {
        digitalWrite(B_plus,HIGH);
        F4=0;
        F5=1;
        T = millis();
      }
    }

    if(F5)
    {
      if(millis() - T > T1)
      {
        digitalWrite(A_minus,LOW);
        F5=0;
        F6=1;
        T = millis();
      }
    }

    if(F6)
    {
      if(millis() - T > T1)
      {
        digitalWrite(A_plus,HIGH);
        F6=0;
        F7=1;
        T = millis();
      }
    }

    if(F7)
    {
      if(millis() - T > T1)
      {
        digitalWrite(B_plus,LOW);
        F7=0;
        F0=1;
        T = millis();
      }
    }
}