//baruun motor
#include <AFMotor.h>
AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
int ir1=A0;
int ir2=A1;
int ir3=A2;
int count=0;
boolean state1=true;
boolean state2=true;
boolean state3=true;
void setup () {
Serial.begin(9600);
motor1.setSpeed(255); //1R MOTORIIN HURD
motor2.setSpeed(255); //2R MOTORIIN HURD
pinMode(A1, INPUT); // initialize Right sensor as an input
pinMode(A0, INPUT); // initialize Right sensor as an input
pinMode(A2, INPUT);
pinMode(ir1,INPUT);
pinMode(ir2,INPUT);
pinMode(ir3,INPUT);
} void loop (){
if(digitalRead(ir1)==1&&digitalRead(ir2)==1&&digitalRead(ir3)==1){uragshaa();}
else if(digitalRead(ir1)==1&&digitalRead(ir2)==0&&digitalRead(ir3)==0){zuun();}
else if(digitalRead(ir1)==1&&digitalRead(ir2)==1&&digitalRead(ir3)==0){zuun();}
else if(digitalRead(ir1)==0&&digitalRead(ir2)==0&&digitalRead(ir3)==1){baruun();}
else if(digitalRead(ir1)==0&&digitalRead(ir2)==1&&digitalRead(ir3)==1){baruun();}
else if(digitalRead(ir1)==0&&digitalRead(ir2)==1&&digitalRead(ir3)==0){uragshaa();}
else if(digitalRead(ir1)==0&&digitalRead(ir2)==0&&digitalRead(ir3)==0){uragshaa();}
if((!digitalRead(ir1))&&(state1)&&(!digitalRead(ir2))&&(state2)&&(!digitalRead(ir3))&&(state3)){
count++;
state1=false; state2=false;state3=false;
Serial.println(count);
if(count==1){baruun();delay(500);}
if(count==7){zuun();delay(600);}
if(count==10){zuun();delay(600);}
if(count==16){zogs();delay(5000);zuun();delay(700);}
if(count==17){zuun();delay(600);}
if(count==23){zuun();delay(600);}
if(count==24){zogs();delay(5000);}
}
if((digitalRead(ir1))&&(digitalRead(ir2))&&(digitalRead(ir3)))
{
state1=true;
state2=true;
state3=true;
}
}
void uragshaa() {
motor1.run(FORWARD);
motor2.run(FORWARD);
}
void hoishoo() {
motor1.run(BACKWARD);
motor2.run(BACKWARD);
}
void zogs() {
motor1.run(RELEASE);
motor2.run(RELEASE);
}
void baruun() {
motor1.run(FORWARD);
motor2.run(RELEASE);
}
void zuun() {
motor1.run(RELEASE);
motor2.run(FORWARD);
}
