Arduino रोबोट वैक्यूम क्लीनर

#define mot_ena 9 //
#define mot_in1 8 //
#define mot_in2 7 //
#define mot_in3 6 //
#define mot_in4 4 //
#define mot_enb 10 //

#define ir_1 A0 // 1 -
#define ir_2 A1 // 2 -
#define ir_3 A2 // 3 -
#define ir_4 A3 // 4 -
#define ir_5 A4 // 5 -
#define ir_6 A5 // 6 -

#define lev_vik 11 //
#define pra_vik 12 //

//
byte max_skor_lev = 254;
byte max_skor_prav = 244;
//---------------------------------

byte min_skor = 0;

void setup() {

randomSeed(analogRead(A7));
//
pinMode(3, INPUT); //
pinMode(2, INPUT); //
//-------------------------
//
pinMode(mot_ena, OUTPUT);
pinMode(mot_in1, OUTPUT);
pinMode(mot_in2, OUTPUT);
pinMode(mot_in3, OUTPUT);
pinMode(mot_in4, OUTPUT);
pinMode(mot_enb, OUTPUT);
//-------------------------------------------
// -
pinMode(ir_1, INPUT);
pinMode(ir_2, INPUT);
pinMode(ir_3, INPUT);
pinMode(ir_4, INPUT);
pinMode(ir_5, INPUT);
pinMode(ir_6, INPUT);
//-------------------------
//
pinMode(lev_vik, INPUT);
pinMode(pra_vik, INPUT);
//---------------------------
delay(3000);

ROB_VPERED();
}

void loop() {

//
if (digitalRead(lev_vik) == LOW)
{
ROB_STOP();
delay(200);
ROB_NAZAD();
delay(150);
ROB_STOP();
delay(200);
ROB_PRAV();
delay(random(400, 1500));
ROB_STOP();
delay(200);
ROB_VPERED();
}
//-----------------------------------------------
//
if (digitalRead(pra_vik) == LOW)
{
ROB_STOP();
delay(200);
ROB_NAZAD();
delay(150);
ROB_STOP();
delay(200);
ROB_LEV();
delay(random(400, 1500));
ROB_STOP();
delay(200);
ROB_VPERED();
}
//-----------------------------------------------
// 2 -
if (digitalRead(ir_2) == LOW)
{
ROB_STOP();
delay(200);
ROB_PRAV();
delay(random(200, 1100));
ROB_STOP();
delay(200);
ROB_VPERED();
}
//-----------------------------------------------
// 3 -
if (digitalRead(ir_3) == LOW)
{
ROB_STOP();
delay(200);
ROB_PRAV();
delay(random(200, 1100));
ROB_STOP();
delay(200);
ROB_VPERED();
}
//-----------------------------------------------
// 4 -
if (digitalRead(ir_4) == LOW)
{
ROB_STOP();
delay(200);
ROB_LEV();
delay(random(200, 1100));
ROB_STOP();
delay(200);
ROB_VPERED();
}
//-----------------------------------------------
// 5 -
if (digitalRead(ir_5) == LOW)
{
ROB_STOP();
delay(200);
ROB_LEV();
delay(random(200, 1100));
ROB_STOP();
delay(200);
ROB_VPERED();
}
//-----------------------------------------------
// 1 -
if (digitalRead(ir_1) == LOW)
{
ROB_PRAV();
delay(10);
ROB_VPERED();
}
//-----------------------------------------------
// 6 -
if (digitalRead(ir_6) == LOW)
{
ROB_LEV();
delay(10);
ROB_VPERED();
}
//-----------------------------------------------

}

//
void ROB_PRAV()
{
//
digitalWrite(mot_in1, LOW);
digitalWrite(mot_in2, HIGH);
analogWrite(mot_ena, max_skor_lev);
//
digitalWrite(mot_in3, LOW);
digitalWrite(mot_in4, HIGH);
analogWrite(mot_enb, max_skor_prav);
}
//-----------------
//
void ROB_LEV()
{
//
digitalWrite(mot_in3, HIGH);
digitalWrite(mot_in4, LOW);
analogWrite(mot_enb, max_skor_prav);
//
digitalWrite(mot_in1, HIGH);
digitalWrite(mot_in2, LOW);
analogWrite(mot_ena, max_skor_lev);
}
//---------------------
//
void ROB_VPERED()
{
//
digitalWrite(mot_in1, LOW);
digitalWrite(mot_in2, HIGH);
analogWrite(mot_ena, max_skor_lev);
//
digitalWrite(mot_in3, HIGH);
digitalWrite(mot_in4, LOW);
analogWrite(mot_enb, max_skor_prav);
}
//-------------------------------------
//
void ROB_NAZAD()
{
//
digitalWrite(mot_in1, HIGH);
digitalWrite(mot_in2, LOW);
analogWrite(mot_ena, max_skor_lev);
//
digitalWrite(mot_in3, LOW);
digitalWrite(mot_in4, HIGH);
analogWrite(mot_enb, max_skor_prav);
}
//------------------------------------
//
void ROB_STOP()
{
//
digitalWrite(mot_in1, LOW);
digitalWrite(mot_in2, LOW);
analogWrite(mot_ena, min_skor);
//
digitalWrite(mot_in3, LOW);
digitalWrite(mot_in4, LOW);
analogWrite(mot_enb, min_skor);
}
//--------------------------------