line follower 4 ir

/*Mert Arduino and Raspberry Pi - Line Following Robot*/

//Define Pins

int ENA = 3; //Enable Pin of the Right Motor (must be PWM)
int RM1 = 1; //Control Pin
int RM2 = 2;

int ENB = 6; //Enable Pin of the Left Motor (must be PWM)
int LM1 = 4;
int LM2 = 5;

//Speed of the Motors
#define ENASpeed 150
#define ENBSpeed 150

// we dont want  to work with sensor 1 and 6 , it will make more complex the if-else statement
int Sensor2 = 0;
int Sensor3 = 0;
int Sensor4 = 0;
int Sensor5 = 0;

void setup() {

  pinMode(ENA, OUTPUT);
  pinMode(RM1, OUTPUT);
  pinMode(RM2, OUTPUT);

  pinMode(ENB, OUTPUT);
  pinMode(LM1, OUTPUT);
  pinMode(LM2, OUTPUT);

  pinMode(Sensor2, INPUT);
  pinMode(Sensor3, INPUT);
  pinMode(Sensor4, INPUT);
  pinMode(Sensor5, INPUT);

}

void loop(){

  //Use analogWrite to run motor at adjusted speed
  analogWrite(ENA, ENASpeed);
  analogWrite(ENB, ENBSpeed);

  //Read the Sensor if HIGH (BLACK Line) or LOW (WHITE Line)
  Sensor2 = digitalRead(8);
  Sensor3 = digitalRead(9);
  Sensor4 = digitalRead(10);
  Sensor5 = digitalRead(11);

  //Set conditions for FORWARD, LEFT and RIGHT

  if(Sensor2 == HIGH && Sensor3 == HIGH && Sensor4 == LOW && Sensor5 == LOW){

    //Turn LEFT
    //motor LM Backward
    digitalWrite(LM1, LOW);
    digitalWrite(LM2, HIGH);

    //motor RM Forward
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }

  else if (Sensor2 == LOW && Sensor3 == LOW && Sensor4 == HIGH && Sensor5 == HIGH){

    //Turn RIGHT
    //motor LM Forward
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);

    //motor RM Backward
    digitalWrite(RM1, LOW);
    digitalWrite(RM2, HIGH);
  }

  else{

    //if(Sensor2 == LOW && Sensor3 == HIGH && Sensor4 == HIGH && Sensor5 == LOW

    //FORWARD
    digitalWrite(LM1, HIGH);
    digitalWrite(LM2, LOW);
    digitalWrite(RM1, HIGH);
    digitalWrite(RM2, LOW);
  }
}