#include<NewPing.h>
#include<AFMotor.h>
#define RIGHT A2
#define LEFT A3
#define TRIGGER_PIN A1
#define ECHO_PIN A0
#define MAX_DISTANCE 100
  
NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor Motor1(1,MOTOR12_1KHZ);
AF_DCMotor Motor2(2,MOTOR12_1KHZ);
AF_DCMotor Motor3(3,MOTOR34_1KHZ);
AF_DCMotor Motor4(4,MOTOR34_1KHZ);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);

pinMode(RIGHT, INPUT);
pinMode(LEFT, INPUT);

}

void loop() {
  // put your main code here, to run repeatedly:

  delay(50);
 unsigned int distance = sonar.ping_cm();

int Right_Value = digitalRead(RIGHT);
int Left_Value = digitalRead(LEFT);

if((Right_Value==1) && (distance>=10 && distance<=30)&&(Left_Value==1)){
  Motor1.setSpeed(120);
  Motor1.run(FORWARD);
  Motor2.setSpeed(120);
  Motor2.run(FORWARD);
  Motor3.setSpeed(120);
  Motor3.run(FORWARD);
  Motor4.setSpeed(120);
  Motor4.run(FORWARD);
}else if((Right_Value==0) && (Left_Value==1)) {
  Motor1.setSpeed(200);
  Motor1.run(FORWARD);
  Motor2.setSpeed(200);
  Motor2.run(FORWARD);
  Motor3.setSpeed(100);
  Motor3.run(BACKWARD);
  Motor4.setSpeed(100);
  Motor4.run(BACKWARD);
}else if((Right_Value==1)&&(Left_Value==0)) {
  Motor1.setSpeed(100);
  Motor1.run(BACKWARD);
  Motor2.setSpeed(100);
  Motor2.run(BACKWARD);
  Motor3.setSpeed(200);
  Motor3.run(FORWARD);
  Motor4.setSpeed(200);
  Motor4.run(FORWARD);
}else if((Right_Value==1)&&(Left_Value==1)) {
  Motor1.setSpeed(0);
  Motor1.run(RELEASE);
  Motor2.setSpeed(0);
  Motor2.run(RELEASE);
  Motor3.setSpeed(0);
  Motor3.run(RELEASE);
  Motor4.setSpeed(0);
  Motor4.run(RELEASE);
}else if(distance > 1 && distance < 10) {
  Motor1.setSpeed(0);
  Motor1.run(RELEASE);
  Motor2.setSpeed(0);
  Motor2.run(RELEASE);
  Motor3.setSpeed(0);
  Motor3.run(RELEASE);
  Motor4.setSpeed(0);
  Motor4.run(RELEASE);
  }
 }