#include <AFMotor.h>


AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
int pin = 1;                // set IR input pin to "1"
int value;
int counter = 0;            // Initialize counter at 0

void setup() {

motor1.setSpeed(235);       // set the right motor speed to 200/255
motor2.setSpeed(255);       // set the left motor speed to 200/255
Serial.begin(9600);

}

void loop() {

motor1.run(FORWARD);        // turn it on going forward
motor2.run(FORWARD);        // turn it on going forward
value = analogRead(pin);    // read the sensor
Serial.println(value);      // print sensor value
Serial.println(counter);    // print counter value
delay(100);

if (value > 450)            // Senor finds object
{
motor1.setSpeed(150);       // set the right motor speed to 200/255
motor2.setSpeed(150);       // set the left motor speed to 200/255
motor1.run(BACKWARD);       // turn it on going backward
motor2.run(BACKWARD);       // turn it on going backward
delay(1000);                // wait 1 second
motor1.setSpeed(235);       // set the right motor speed to 200/255
motor2.setSpeed(255);       // set the left motor speed to 200/255
motor1.run(FORWARD);        // turn 
motor2.run(BACKWARD);       // turn 
delay(650);                 // right angle turn
++counter;                  // increment spin counter
}
else

{
motor1.run(FORWARD);        // turn it on going forward
motor2.run(FORWARD);        // turn it on going forward
}

if (counter == 5)            // check counter value
{

motor1.run(FORWARD);        // spin on 5
motor2.run(BACKWARD);       // spin on 5 
delay(1750);                // 2 second spin
counter = 0;                // reset counter
}

else
{
motor1.run(FORWARD);        // turn it on going forward
motor2.run(FORWARD);        // turn it on going forward
}}