//motor shield pin
int dirR = 12;
int speedR = 10;
int dirL = 13;
int speedL = 11;
int pb = 7; //push button

//line sensor pin
int _ = _;
int _ = _;
int _ = _;
int _ = _;
int _ = _;

void setup() 
{
  pinMode(dirR, OUTPUT);
  pinMode(speedR, OUTPUT);
  pinMode(dirL, OUTPUT);
  pinMode(speedL, OUTPUT);
  pinMode(pb, INPUT);

  pinMode(_, INPUT);
  pinMode(_, INPUT);
  pinMode(_, INPUT);
  pinMode(_, INPUT);
  pinMode(_, INPUT);

  while (_(_) == 0)
  {
    stop();
  }
}

void forward(int a, int b) //a=right motor, b=left motor
{
  digitalWrite(dirR, HIGH);
  analogWrite(speedR, a);
  digitalWrite(dirL, HIGH);
  analogWrite(speedL, b);
}

void backward(int a, int b) //a=right motor, b=left motor
{
  digitalWrite(dirR, LOW);
  analogWrite(speedR, a);
  digitalWrite(dirL, LOW);
  analogWrite(speedL, b);
}

void right(int a, int b) //a=right motor, b=left motor
{
  digitalWrite(dirR, LOW);
  analogWrite(speedR, a);
  digitalWrite(dirL, HIGH);
  analogWrite(speedL, b);
}

void left(int a, int b) //a=right motor, b=left motor
{
  digitalWrite(dirR, HIGH);
  analogWrite(speedR, a);
  digitalWrite(dirL, LOW);
  analogWrite(speedL, b);
}

void stop() 
{
  analogWrite(speedR, 0);
  analogWrite(speedL, 0);
}

void loop() 
{
  int _ = _(_);
  int _ = _(_);
  int _ = digitalRead(_);
  int _ = digitalRead(_);
  int _ = digitalRead(_);

  if (s1 == LOW && s2 == LOW && s3 == HIGH && s4 == LOW && s5 == LOW) //12*45 - Situation #1
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == LOW && s3 == HIGH && s4 == HIGH && s5 == LOW) //12**5 - Situation #2
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == HIGH && s3 == HIGH && s4 == LOW && s5 == LOW) //1**45 - Situation #3
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == HIGH && s5 == LOW) //123*5 - Situation #4
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == HIGH && s3 == LOW && s4 == LOW && s5 == LOW) //1*345 - Situation #5
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == HIGH && s5 == HIGH) //123** - Situation #6
  { 
    forward(_, _);
  }
  if (s1 == HIGH && s2 == HIGH && s3 == LOW && s4 == LOW && s5 == LOW) //**345 - Situation #7
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == LOW && s5 == HIGH) //1234* - Situation #8
  { 
    forward(_, _);
  }
  if (s1 == HIGH && s2 == LOW && s3 == LOW && s4 == LOW && s5 == LOW) //*2345 - Situation #9
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == LOW && s3 == LOW && s4 == LOW && s5 == LOW) //12345 - Situation #10
  { 
    right(_, _);
  }
  if (s1 == LOW && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == LOW) //1***5 - Situation #11
  { 
    forward(_, _);
  }
  if (s1 == HIGH && s2 == HIGH && s3 == HIGH && s4 == LOW && s5 == LOW) //***45 - Situation #12
  { 
    forward(120, 100);
  }
  if (s1 == LOW && s2 == LOW && s3 == HIGH && s4 == HIGH && s5 == HIGH) //12*** - Situation #13
  { 
    forward(_, _);
  }
  if (s1 == LOW && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == HIGH) //1**** - Situation #14
  { 
    forward(_, _);
  }
  if (s1 == HIGH && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == LOW) //****5 - Situation #15
  { 
    forward(_, _);
  }
  if (s1 == HIGH && s2 == HIGH && s3 == HIGH && s4 == HIGH && s5 == HIGH) //***** - Situation #16
  { 
    stop();
  }
}