Autom

const int motorPin_left = 4;
const int reversePin_left= 3;
const int motorPin_right = 5;
const int reversePin_right = 6;
const int leftFront_sensor = A0;
const int rightFront_sensor = A1;
const int leftSide_sensor = A2;
const int rightSide_sensor = A3;
const int sensorMin = 0;     // sensor minimum
const int sensorMax = 1024;  // sensor maximum
const int reverseTiming = 3400;

enum direction {
    NORTH,
    EAST,
    SOUTH,
    WEST
};

// Хранят координаты робота
int coord[2] = {0, 0};
int coord_direction = SOUTH;
int i;

// Маршрут робота
const int route[][3] = {
    {0, 1},
    {1, 1},
    {1, 0},
    {2, 0},
    {2, 1},
    {3, 1},
    {3, 0},
    {4, 0},
    {4, 1},
    {5, 1},
    {5, 2},
    {0, 2},
    {0, 0}
};

void setup(){
    pinMode(motorPin_left, OUTPUT);
    pinMode(reversePin_left, OUTPUT);
    pinMode(motorPin_right, OUTPUT);
    pinMode(reversePin_right, OUTPUT);
    motor_stop(motorPin_left, reversePin_left);
    motor_stop(motorPin_right, reversePin_right);
    Serial.begin(115200);
    // turn_left();
    // turn_right();
    move_forward();
}

void loop(){
    // int range_left = analogRead(leftSide_sensor);
    // int range_right = analogRead(rightSide_sensor);
    // Serial.println("----------------");
    // Serial.print(range_left);
    // Serial.print(" ");
    // Serial.print(range_right);
    // Serial.println();

    // onLine(leftFront_sensor)?Serial.print("T"):Serial.print("F");
    // Serial.print(" ");
    // onLine(rightFront_sensor)?Serial.print("T"):Serial.print("F");
    // Serial.println();

    // onLine(leftSide_sensor)?Serial.print("T"):Serial.print("F");
    // Serial.print(" ");
    // onLine(rightSide_sensor)?Serial.print("T"):Serial.print("F");
    // Serial.println();
    // delay(500);
}

// Функции для работы с моторами
void motor_forward(int motorPin, int reversePin, int speed){
  digitalWrite(reversePin, HIGH);
  analogWrite(motorPin, 255-speed);
}

void motor_back(int motorPin, int reversePin, int speed){
  digitalWrite(reversePin, LOW);
  analogWrite(motorPin, speed);
}

void motor_stop(int motorPin, int reversePin){
  digitalWrite(reversePin, LOW);
  analogWrite(motorPin, 0);
}

// Функция для проверки на линии ли датчик
bool onLine(int pin){
    int sensorReading = analogRead(pin);
    if(sensorReading < 700){
        return false;
    }else{
        return true;
    }
}

// Функции для работы с автоматическим роботом
void move_forward(){
    motor_forward(motorPin_left, reversePin_left, 250);
    motor_forward(motorPin_right, reversePin_right, 250);
    // delay(500);
    while(!onLine(leftSide_sensor) && !onLine(rightSide_sensor)){
        Serial.println("SEKU");
        motor_forward(motorPin_left, reversePin_left, 250);
        motor_forward(motorPin_right, reversePin_right, 250);
    }
    delay(1000);
    while(!onLine(leftSide_sensor) && !onLine(rightSide_sensor)){
        Serial.println("SEKU");
        motor_forward(motorPin_left, reversePin_left, 250);
        motor_forward(motorPin_right, reversePin_right, 250);
    }
    motor_stop(motorPin_left, reversePin_left);
    motor_stop(motorPin_right, reversePin_right);
}

void turn_left(){
    motor_back(motorPin_left, reversePin_left, 250);
    motor_forward(motorPin_right, reversePin_right, 250);
    int timing = 20;
    delay(500);
    while(!onLine(leftSide_sensor)){
        motor_back(motorPin_left, reversePin_left, 250);
        motor_forward(motorPin_right, reversePin_right, 250);
    }
    delay(timing);
    while(!onLine(leftFront_sensor)){
        motor_back(motorPin_left, reversePin_left, 250);
        motor_forward(motorPin_right, reversePin_right, 250);
    }
    delay(timing);
    while(!onLine(rightFront_sensor)){
        motor_back(motorPin_left, reversePin_left, 250);
        motor_forward(motorPin_right, reversePin_right, 250);
    }
    motor_stop(motorPin_left, reversePin_left);
    motor_stop(motorPin_right, reversePin_right);
}

void turn_right(){
    motor_forward(motorPin_left, reversePin_left, 250);
    motor_back(motorPin_right, reversePin_right, 250);
    int timing = 20;
    delay(500);
    while(!onLine(rightSide_sensor)){
        motor_forward(motorPin_left, reversePin_left, 250);
        motor_back(motorPin_right, reversePin_right, 250);
    }
    delay(timing);
    while(!onLine(rightFront_sensor)){
        motor_forward(motorPin_left, reversePin_left, 250);
        motor_back(motorPin_right, reversePin_right, 250);
    }
    delay(timing);
    while(!onLine(leftFront_sensor)){
        motor_forward(motorPin_left, reversePin_left, 250);
        motor_back(motorPin_right, reversePin_right, 250);
    }
    motor_stop(motorPin_left, reversePin_left);
    motor_stop(motorPin_right, reversePin_right);
}

void throw_balls(int balls){
    //
    //
}