Line Following Robot

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3  int vSpeed = 110;        // MAX 255
4  int turn_speed = 230;    // MAX 255 
5  int turn_delay = 10;
6  
7//L293 Connection   
8  const  int motorA1      = 8;  
9  const int motorA2      = 10; 
10  const int motorAspeed  = 9;
11  const int motorB1      = 12; 
12  const int motorB2      = 13; 
13  const int motorBspeed  = 11;
14
15//Sensor Connection
16  const int left_sensor_pin  =A0;
17  const int right_sensor_pin =A1;
18
19  
20  
21  int left_sensor_state;
22  int right_sensor_state;
23
24void setup() {
25  pinMode(motorA1, OUTPUT);
26  pinMode(motorA2, OUTPUT);
27  pinMode(motorB1, OUTPUT);
28  pinMode(motorB2,  OUTPUT);
29
30  Serial.begin(9600);
31
32  delay(3000);
33  
34}
35
36void  loop() {
37  
38
39  
40
41
42left_sensor_state = analogRead(left_sensor_pin);
43right_sensor_state  = analogRead(right_sensor_pin);
44
45if(right_sensor_state > 500 && left_sensor_state  < 500)
46{
47  Serial.println("turning right");
48
49  digitalWrite (motorA1,LOW);
50  digitalWrite(motorA2,HIGH);                       
51  digitalWrite (motorB1,LOW);
52  digitalWrite(motorB2,HIGH);
53
54  analogWrite (motorAspeed, vSpeed);
55  analogWrite  (motorBspeed, turn_speed);
56  
57  }
58if(right_sensor_state < 500 && left_sensor_state  > 500)
59{
60  Serial.println("turning left");
61  
62  digitalWrite (motorA1,HIGH);
63  digitalWrite(motorA2,LOW);                       
64  digitalWrite (motorB1,HIGH);
65  digitalWrite(motorB2,LOW);
66
67  analogWrite (motorAspeed, turn_speed);
68  analogWrite (motorBspeed, vSpeed);
69
70  delay(turn_delay);
71  }
72
73if(right_sensor_state  > 500 && left_sensor_state > 500)
74{
75  Serial.println("going forward");
76
77  digitalWrite (motorA2,LOW);
78  digitalWrite(motorA1,HIGH);                       
79  digitalWrite (motorB2,HIGH);
80  digitalWrite(motorB1,LOW);
81
82  analogWrite  (motorAspeed, vSpeed);
83  analogWrite (motorBspeed, vSpeed);
84
85  delay(turn_delay);
86  
87  }
88
89if(right_sensor_state < 500 && left_sensor_state < 500)
90{ 
91  Serial.println("stop");
92  
93  analogWrite (motorAspeed, 0);
94  analogWrite  (motorBspeed, 0);
95  
96  }
97
98 
99}
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