//define pins

#define light1 5
#define light2 4
#define touch 8
#define PWM12 5
#define PWM11 6
#define PWM21 9
#define PWM22 10

 

const int blackl= 550;
const int blackr= 500;

 
 //initiate touch counter
 int counttouch = 0;
 int lastbutstate = 0;

void setup()

{
    //Set up pin output/ input

    pinMode(18, INPUT);
    pinMode(19, INPUT);
    pinMode(touch, INPUT);
    pinMode(PWM12, OUTPUT);
    pinMode(PWM11, OUTPUT);
    pinMode(PWM22, OUTPUT);
    pinMode(PWM21, OUTPUT);

    //one side of the motor driver output to low

    digitalWrite(PWM11, LOW);
    digitalWrite(PWM21, LOW);

    //set up connection speed

    Serial.begin(9600);

}

 
void move()

{

  //set speeds of whiles
  int full = 240;
  int slow = 0;

  //light sensors variables and constants

  
  long lightsenl;
  long lightsenr;


  //read light sensors

  lightsenl = analogRead(light2);
  lightsenr = analogRead(light1);
  Serial.println(lightsenl);

  //if the right light sensor read black 
  //if the left light sensor reads black

   if(blackr<lightsenr)

   {
     //turn right wheel back wards and left wheel forward

     analogWrite(PWM21,LOW);
     analogWrite(PWM22,full);
     analogWrite(PWM12,LOW);
     analogWrite(PWM11,slow);

   }

   else if (blackl<lightsenl)

   {

     //turn right wheel back wards and left wheel forward

        analogWrite(PWM22,LOW);
        analogWrite(PWM21,slow);
        analogWrite(PWM11,LOW);
        analogWrite(PWM12,full);

   }

    

   //if neither of the light sensors read black

    else

     {

       //both motors to full

       analogWrite(PWM21,LOW);
       analogWrite(PWM11,LOW);
       analogWrite(PWM12,full);
       analogWrite(PWM22,full-45);
     
     }

}

 

void touchfun()

{

  //constants and variables for 

  int reading;
  const int delayt = 3500;
  long time;

  //read the touch sensors

  reading = digitalRead(touch);

  //if the time past is greater than the delay time

  if(millis()-time >= delayt)

  {

     // the button is pushed

     if (reading != 0)

     {

         //record the time

          time = millis();

         //add one to the touch counter

         counttouch += 1;

        //if the button is pushed the first time

       if (counttouch ==1)

       {

          //while the touch sensor is pushed

           while( reading != 0)

           {

               //read the touch sensor and move

                reading = digitalRead(touch);
                move();

            }
         }

         //when the touch counter is pushed the second time

         while(counttouch==2)

             {

              //set up timer till shut off

               if (millis()-time >=delayt )

                  {

                  //shut off motor

                  analogWrite(PWM21,0);
                  analogWrite(PWM11,0);
                  analogWrite(PWM12,0);
                  analogWrite(PWM22,0);

                  }
              }
          }
     }
}