#define motor_A1 2
#define motor_A2 3
#define motor_Apwm 9
#define motor_B1 4
#define motor_B2 5
#define motor_Bpwm 10
#define edge_sensor 2
#define distance_sensor 17

int x=0;
int edge_reading;
int distance_reading;
int control = 0;
int spin=0;


void setup(){
  pinMode(motor_A1, OUTPUT);
  pinMode(motor_A2, OUTPUT);
  pinMode(motor_Apwm, OUTPUT);
  
  pinMode(motor_B1, OUTPUT);
  pinMode(motor_B2, OUTPUT);
  pinMode(motor_Bpwm, OUTPUT);
  
  pinMode(edge_sensor, INPUT);
  pinMode(distance_sensor, INPUT);
  digitalWrite(distance_sensor, HIGH);
}


void loop(){
  digitalWrite(motor_Bpwm, HIGH);
  digitalWrite(motor_Apwm, HIGH);
  digitalWrite(motor_A1, LOW);
  digitalWrite(motor_A2, HIGH);
  digitalWrite(motor_B1, HIGH);
  digitalWrite(motor_B2, LOW);
  delay(2);
  digitalWrite(motor_Bpwm, LOW);
  digitalWrite(motor_Apwm, LOW);
  delay(5);
  
  
  while(digitalRead(distance_sensor)==0 && analogRead(edge_sensor)<500){
    digitalWrite(motor_Bpwm, HIGH);
    digitalWrite(motor_Apwm, HIGH);
    digitalWrite(motor_A1, HIGH);
    digitalWrite(motor_A2, LOW);
    digitalWrite(motor_B1, HIGH);
    digitalWrite(motor_B2, LOW);
    delay(5);
    digitalWrite(motor_Bpwm, LOW);
    digitalWrite(motor_Apwm, LOW);
    delay(3);
  }

  if(analogRead(edge_sensor)>700){
    if(digitalRead(distance_sensor)==0){
      while(x<60){
        digitalWrite(motor_Bpwm, HIGH);
        digitalWrite(motor_Apwm, HIGH);
        digitalWrite(motor_A1, LOW);
        digitalWrite(motor_A2, HIGH);
        digitalWrite(motor_B1, LOW);
        digitalWrite(motor_B2, HIGH);
        delay(5);
        digitalWrite(motor_Bpwm, LOW);
        digitalWrite(motor_Apwm, LOW);
        delay(4);
        x++;
      }
      x=0;
    }
    while(x<30){
      digitalWrite(motor_Bpwm, HIGH);
      digitalWrite(motor_Apwm, HIGH);
      digitalWrite(motor_A1, LOW);
      digitalWrite(motor_A2, HIGH);
      digitalWrite(motor_B1, LOW);
      digitalWrite(motor_B2, HIGH);
      delay(5);
      digitalWrite(motor_Bpwm, LOW);
      digitalWrite(motor_Apwm, LOW);
      delay(4);
      x++;
    }
    x=0;
    while(x<30){
      digitalWrite(motor_Bpwm, HIGH);
      digitalWrite(motor_Apwm, HIGH);
      digitalWrite(motor_A1, LOW);
      digitalWrite(motor_A2, HIGH);
      digitalWrite(motor_B1, HIGH);
      digitalWrite(motor_B2, LOW);
      delay(5);
      digitalWrite(motor_Bpwm, LOW);
      digitalWrite(motor_Apwm, LOW);
      delay(7);
      x++;
    }
  }
}