3 мэдрэгчтэй шоо цуглуулах робот код

int ir1=A0; int ir2=A1; int ir3=A2; int count=0;   boolean state = true; int enA = 6;   //motoriin hurd tohiruulah int in1 = 8; int in2 = 7; // Zuun motor

int enB = 11;//motoriin hurd tohiruulah

int in3 = 10;

int in4 = 9;

int t=0;

int f=1;

void setup() {

  Serial.begin(9600);

  pinMode(enA, OUTPUT);

  pinMode(enB, OUTPUT);

  pinMode(in1, OUTPUT);

  pinMode(in2, OUTPUT);

  pinMode(in3, OUTPUT);

  pinMode(in4, OUTPUT);

  pinMode(ir1,INPUT);

  pinMode(ir2,INPUT);

  pinMode(ir3,INPUT);

}

void loop() {

if(digitalRead(ir1)==t && digitalRead(ir2)==t && digitalRead(ir3)==t){uragshaa();} //bugd tsagaan 1111 bol yav

else if(digitalRead(ir1)==f && digitalRead(ir2)==f && digitalRead(ir3)==f){uragshaa();} //bugd har 0000 bol zogs

else if(digitalRead(ir1)==t && digitalRead(ir2)==f && digitalRead(ir3)==t){uragshaa();} //101 bol chigeerei

else if(digitalRead(ir1)==f && digitalRead(ir2)==t && digitalRead(ir3)==t){baruun();}//011

else if(digitalRead(ir1)==t && digitalRead(ir2)==t && digitalRead(ir3)==f){zuun();}//110

 if (digitalRead(ir1) && digitalRead(ir2) && digitalRead(ir3) && state){  

    count++;  

    state = false;  

    Serial.print("Count: ");  

    Serial.println(count);

if(count==3){zogs();delay(10000);}

   

     }  

   

  if (!digitalRead(ir1)&&!digitalRead(ir2)&&!digitalRead(ir3))   //1111 bugd tsagaan  

  {  

    state = true;  

  delay(100);  

  }  

       }

void uragshaa(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

}

void hoishoo(){

  analogWrite(enA, 250);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 250);  

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

}

void zogs(){  

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

}

void baruun(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, LOW);

}

void zuun(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, LOW);

  digitalWrite(in2, LOW);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

}

void baruun1(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, HIGH);

  digitalWrite(in2, LOW);

  digitalWrite(in3, LOW);

  digitalWrite(in4, HIGH);

}

void zuun1(){

  analogWrite(enA, 150);  //motor hurd 0-255 hoorond too bichne

  analogWrite(enB, 150);  

  digitalWrite(in1, LOW);

  digitalWrite(in2, HIGH);

  digitalWrite(in3, HIGH);

  digitalWrite(in4, LOW);

}

void tooloh(){

if (!digitalRead(ir1) && !digitalRead(ir2) && !digitalRead(ir3) && state){  

    count++;  

    state = false;  

    Serial.print("Count: ");  

    Serial.println(count);

   

     }  

   

  if (digitalRead(ir1)&&digitalRead(ir2)&&digitalRead(ir3))   //1111 bugd tsagaan  

  {  

    state = true;  

  delay(100);  

  }  

}