int Ana = A0;

int Ana1 = A1;

int Ana2 = A2;
int Ana3 = A3;
int Ana4 = A4;
int Ana5 = A5;
int motorAvance = 10;
int motorRetroceso = 11;
int motorAvance1 = 9;
int motorRetroceso2 = 6;
const int ARRANCAR = 0;
const int IZQUIERDA = 1;
const int DERECHA = 2;
const int IZQUIERDAEX = 3;
const int DERECHAEX = 4;
const int REVERSA = 5;
int ESTADO = 0;
float SENSOR = 0;
float SENSOR1 = 0;
float SENSOR2 = 0;
float SENSOR3 = 0;
float SENSOR4 = 0;
float SENSOR5 = 0;
void setup()
{
pinMode(motorAvance, OUTPUT);
pinMode(motorRetroceso, OUTPUT);
pinMode(motorAvance1, OUTPUT);
pinMode(motorRetroceso2, OUTPUT);
}
void loop()
{
SENSOR = analogRead(Ana);
SENSOR1 = analogRead(Ana1);
SENSOR2 = analogRead(Ana2);
SENSOR3 = analogRead(Ana3);
SENSOR4 = analogRead(Ana4 );
SENSOR5 = analogRead(Ana5);
switch(ESTADO)
{
case ARRANCAR:
{
analogWrite(motorAvance, 127);
analogWrite(motorRetroceso, 0);
analogWrite(motorAvance1, 127);
analogWrite(motorRetroceso2, 0);
if(SENSOR<=203 && SENSOR1>=205 && SENSOR2>=205 && SENSOR3<=203 && SENSOR4<=409 &
& SENSOR5<=512)
{
ESTADO = IZQUIERDA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3>=205 && SENSOR4>
=512 && SENSOR5<=409)
{
ESTADO = DERECHA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409 )
{
ESTADO = REVERSA;

}
else if(SENSOR>=205 && SENSOR1>=205 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<
=409 && SENSOR5<=409)
{
ESTADO = IZQUIERDAEX;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4>
=512 && SENSOR5>=512)
{
ESTADO = DERECHAEX;
}
break;
}
case IZQUIERDA:
{
analogWrite(motorAvance, 127);
analogWrite(motorRetroceso, 0);
analogWrite(motorAvance1, 204);
analogWrite(motorRetroceso2, 0);
if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<=409 &
& SENSOR5<=409)
{
ESTADO = REVERSA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2>=205 && SENSOR3>=205 && SENSOR4<
=409 && SENSOR5<=409)
{
ESTADO = ARRANCAR;
}
else if(SENSOR>=205 && SENSOR1>=205 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = IZQUIERDAEX;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3>=205 && SENSOR4>=
512 && SENSOR5<=409)
{
ESTADO = DERECHA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4>
=512 && SENSOR5>=512)
{
ESTADO = DERECHAEX;
}
break;
}
case DERECHA:
{
analogWrite(motorAvance, 204);
analogWrite(motorRetroceso, 0);
analogWrite(motorAvance1, 127);
analogWrite(motorRetroceso2, 0);
if(SENSOR<=203 && SENSOR1<=203 && SENSOR2>=205 && SENSOR3>=205 && SENSOR4<=409 &
& SENSOR5<=409)
{
ESTADO = ARRANCAR;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4>=
512 && SENSOR5>=512)
{

ESTADO = DERECHAEX;
}
else if(SENSOR<=203 && SENSOR1>=205 && SENSOR2>=205 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = IZQUIERDA;
}
else if(SENSOR>=205 && SENSOR1>=205 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = IZQUIERDAEX;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<
=409 && SENSOR5<=409)
{
ESTADO = REVERSA;
}
break;
}
case DERECHAEX:
{
analogWrite(motorAvance, 255);
analogWrite(motorRetroceso, 0);
analogWrite(motorAvance1, 102);
analogWrite(motorRetroceso2, 0);
if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3>=205 && SENSOR4>=512 &
& SENSOR5<=409)
{
ESTADO = DERECHA;
}
else if(SENSOR<=203 && SENSOR1>=205 && SENSOR2>=205 && SENSOR3<=203 && SENSOR4<
=409 && SENSOR5<=409)
{
ESTADO = IZQUIERDA;
}
else if(SENSOR>=205 && SENSOR1>=205 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<
=409 && SENSOR5<=409)
{
ESTADO = IZQUIERDAEX;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2>=205 && SENSOR3>=205 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = ARRANCAR;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = REVERSA;
}
break;
}
case IZQUIERDAEX:
{
analogWrite(motorAvance, 102);
analogWrite(motorRetroceso, 0);
analogWrite(motorAvance1, 255);
analogWrite(motorRetroceso2, 0);
if(SENSOR<=203 && SENSOR1>=205 && SENSOR2>=205 && SENSOR3<=203 && SENSOR4<=409
&& SENSOR5<=409)

{
ESTADO = IZQUIERDA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3>=205 && SENSOR4>
=512 && SENSOR5<=409)
{
ESTADO = DERECHA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4>=
512 && SENSOR5>=512)
{
ESTADO = DERECHAEX;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2>=205 && SENSOR3>=205 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = ARRANCAR;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = REVERSA;
}
break;
}
case REVERSA:
{
analogWrite(motorAvance, 0);
analogWrite(motorRetroceso, 127);
analogWrite(motorAvance1, 0);
analogWrite(motorRetroceso2, 127 );
if(SENSOR<=203 && SENSOR1<=203 && SENSOR2>=205 && SENSOR3>=205 && SENSOR4<=409
&& SENSOR5<=409)
{
ESTADO = ARRANCAR;
}
else if(SENSOR<=203 && SENSOR1>=205 && SENSOR2>=205 && SENSOR3<=203 && SENSOR4<=
409 && SENSOR5<=409)
{
ESTADO = IZQUIERDA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3>=205 && SENSOR4>
=512 && SENSOR5<=409)
{
ESTADO = DERECHA;
}
else if(SENSOR<=203 && SENSOR1<=203 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4>
=512 && SENSOR5>=512)
{
ESTADO = DERECHAEX;
}
else if(SENSOR>=205 && SENSOR1>=205 && SENSOR2<=203 && SENSOR3<=203 && SENSOR4<
=409 && SENSOR5<=409)
{
ESTADO = IZQUIERDAEX;
}
break;
}
}
}