Sound tracking rover

1int mic1 = A2;
2int mic2 = A1;
3int motor1= 2;
4int motor2= 3;
5int motor3= 4;
6int motor4= 5;
7int baseline = 337;
8int amp1=0;
9int amp2=0;
10int difference=0;
11int enA = 9;
12int enB = 10;
13int start;
14int end;
15const int echoPin= 7;
16const int trigPin= 6;
17long duration;
18int distance;
19void setup(){
20  Serial.begin(9600);
21  pinMode(motor1, OUTPUT);
22  pinMode(motor2, OUTPUT);
23  pinMode(motor3, OUTPUT);
24  pinMode(motor4, OUTPUT);
25  pinMode(enA, OUTPUT);
26  pinMode(enB, OUTPUT);
27  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
28  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
29  
30}
31void loop(){
32  digitalWrite(trigPin, LOW);
33  delayMicroseconds(2);
34  // Sets the trigPin on HIGH state for 10 micro seconds
35  digitalWrite(trigPin, HIGH);
36  delayMicroseconds(10);
37  digitalWrite(trigPin, LOW);
38  // Reads the echoPin, returns the sound wave travel time in microseconds
39  duration = pulseIn(echoPin, HIGH);
40  // Calculating the distance
41  distance = duration * 0.034 / 2;
42  start=0;
43  start= millis();
44  end = start;
45  int reading1 = analogRead(mic1);
46  amp1= abs(reading1-baseline);//determine the peak
47  int reading2 = analogRead(mic2);
48  amp2= abs(reading2-baseline);//determine the peak
49  difference= amp1-amp2;//peak intensity difference
50  
51  Serial.print("mic1: ");
52  Serial.print(amp1);
53  Serial.print(" mic2: ");
54  Serial.print(amp2);
55  Serial.print(" difference: ");
56  Serial.print(difference); 
57  Serial.print(" distance:");
58  Serial.print(distance); 
59  
60  Serial.print("\n");
61    if(difference>9 && amp1+amp2>250){//steers right based on the sound
62      analogWrite(enA,90);
63  analogWrite(enB,90);
64      roboright();
65
66      
67    }
68    else if(difference<-9 && amp1+amp2>250){//steers left based on the sound
69      analogWrite(enA,90);
70  analogWrite(enB,90);
71      roboleft();
72
73      
74    }// jatin sachdev
75    else if(difference>=-5 && difference<=5 && amp1+amp2>250 ){// drives towards the source of the sound
76    //  while(start-end<0.5){
77      analogWrite(enA,180);
78  analogWrite(enB,180);
79      roboforward(); //}
80      /*stop();
81      drivetosource();*/
82      
83  
84    }
85    if(distance<4){// makes the car recognise when it has reached the sound of source
86      stop();
87    }
88    
89 
90 
91}
92/*void drivetosource(){
93  analogWrite(enA, 100);
94  analogWrite(enB, 100);
95  while (amp1<335 || amp2<335){
96   if(amp1<337 || amp2<337 && difference<5 && difference>-5 && amp1+amp2>300){
97   roboforward();}  
98   else if(difference>5){
99    roboright();
100  }
101   else if(difference<-5 ){
102    roboleft(); 
103  
104  }
105  
106  else if(amp1>335 && amp2>335){
107    stop();
108  }}
109}*/
110void roboright(){
111  digitalWrite(motor1,LOW);
112  digitalWrite(motor2,HIGH);
113  digitalWrite(motor3,LOW);
114  digitalWrite(motor4,HIGH );
115  
116}
117void roboleft(){
118  digitalWrite(motor1,HIGH);
119  digitalWrite(motor2,LOW);
120  digitalWrite(motor3,HIGH);
121  digitalWrite(motor4,LOW);
122}
123void stop(){
124  digitalWrite(motor1,LOW);
125  digitalWrite(motor2,LOW);
126  digitalWrite(motor3,LOW);
127  digitalWrite(motor4,LOW);
128}
129void roboforward(){
130  digitalWrite(motor1,LOW);
131  digitalWrite(motor2,HIGH);
132  digitalWrite(motor3,HIGH);
133  digitalWrite(motor4,LOW);
134  
135}
136void robobackward(){
137  digitalWrite(motor1,HIGH);
138  digitalWrite(motor2,LOW);
139  digitalWrite(motor3,LOW);
140  digitalWrite(motor4,HIGH);
141}
142void locatesource(){
143  //do nothing
144}