const int motor1Pin1 = 2; // Motor 1 pins const int motor1Pin2 = 4; const int motor2Pin1 = 7; // Motor 2 pins const int motor2Pin2 = 8; const int trigPin = 12; // Ultrasonic sensor pins const int echoPin = 13; const int IR_left = A0; // IR sensor pins const int IR_right = A1; const int maxDistance = 40; // Maximum distance to detect obstacles (in cm) const int minReverseDistance = 5; // Distance to start reversing (in cm) const float cmToInch = 0.393701; // Conversion factor from cm to inches const float reverseDistanceInch = 2.0; // Reverse distance in inches

long duration; int distance;

void setup() { pinMode(motor1Pin1, OUTPUT); pinMode(motor1Pin2, OUTPUT); pinMode(motor2Pin1, OUTPUT); pinMode(motor2Pin2, OUTPUT); pinMode(trigPin, OUTPUT); pinMode(echoPin, INPUT); pinMode(IR_left, INPUT); pinMode(IR_right, INPUT); Serial.begin(9600); }

void loop() { int leftSensor = digitalRead(IR_left); int rightSensor = digitalRead(IR_right);

digitalWrite(trigPin, LOW); delayMicroseconds(2); digitalWrite(trigPin, HIGH); delayMicroseconds(10); digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH); distance = duration * 0.034 / 2;

Serial.print("Distance: "); Serial.print(distance); Serial.print(" cm, Left Sensor: "); Serial.print(leftSensor); Serial.print(", Right Sensor: "); Serial.println(rightSensor);

if (distance <= maxDistance && distance >= minReverseDistance) { if (leftSensor == LOW && rightSensor == LOW) { moveForward(); } else if (leftSensor == LOW) { turnLeft(); } else if (rightSensor == LOW) { turnRight(); } else { continueStraight(); } } else if (distance < minReverseDistance && distance >= 0) { reverse(); delay(reverseDuration(distance)); // Delay for the reverse duration } else { stopMoving(); } }

void moveForward() { analogWrite(motor1Pin1, 255); analogWrite(motor1Pin2, 0); analogWrite(motor2Pin1, 255); analogWrite(motor2Pin2, 0); }

void turnRight() { analogWrite(motor1Pin1, 255); analogWrite(motor1Pin2, 0); analogWrite(motor2Pin1, 0); analogWrite(motor2Pin2, 255); }

void turnLeft() { analogWrite(motor1Pin1, 0); analogWrite(motor1Pin2, 255); analogWrite(motor2Pin1, 255); analogWrite(motor2Pin2, 0); }

void stopMoving() { analogWrite(motor1Pin1, 0); analogWrite(motor1Pin2, 0); analogWrite(motor2Pin1, 0); analogWrite(motor2Pin2, 0); }

void continueStraight() { analogWrite(motor1Pin1, 255); analogWrite(motor1Pin2, 0); analogWrite(motor2Pin1, 255); analogWrite(motor2Pin2, 0); }

void reverse() { analogWrite(motor1Pin1, 0); analogWrite(motor1Pin2, 255); analogWrite(motor2Pin1, 0); analogWrite(motor2Pin2, 255); }

float reverseDuration(int distance) { return (distance * cmToInch) / reverseDistanceInch * 1000; // Convert distance in cm to inches and calculate the reverse duration in milliseconds }