main code

int ir[6],er[6],res[6],preErr[6];
int enR=7 ,enL=10,in1L=16,in2L=17,in1R=14,in2R=15;
void setup() 
{
    Serial.begin(9600);
  pinMode(in1L,OUTPUT);
  pinMode(in1R,OUTPUT);
  pinMode(in2L,OUTPUT);
  pinMode(in2R,OUTPUT);
  pinMode(enR,OUTPUT);
  pinMode(enL,OUTPUT);
  forward();
}

void loop() {
    ir [0] = analogRead(A2);
    ir [1] = analogRead(A0);
    ir [2] = analogRead(A1);
    ir [3] = analogRead(A8);
    ir [4] = analogRead(A12);
    ir [5] = analogRead(A6);
    for (int i=0; i<6; ++i)
    {
      if(ir[i]>200)
        ir[i]=1;
       else
        ir[i]=0;
    } 


    if(ir[5]==0 && ir[3]==1 && ir[0]==1)
    left();
    if(ir[5]==1 && ir[3]==0 && ir[0]==1)
    forward();
    if(ir[5]==1 && ir[3]==1 && ir[0]==0)
    right();
    if(ir[5]==0 && ir[3]==0 && ir[0]==0)
    forward();
    

    for(int i=0;i<6;i++)
    {
      Serial.print(ir[i]);
      Serial.print(" ");
    }
    Serial.println();
}


void right()
{
  analogWrite(enR,255);
  analogWrite(enL,255);
  digitalWrite(in2R, LOW);
  digitalWrite(in1R, HIGH);
  digitalWrite(in2L, LOW);
  digitalWrite(in1L, HIGH);
  Serial.println("RIGHT");  
}


void left()
{
  analogWrite(enR,255);
  analogWrite(enL,255);
  digitalWrite(in2R, HIGH);
  digitalWrite(in1R, LOW);
  digitalWrite(in2L, HIGH);
  digitalWrite(in1L, LOW);
  Serial.println("LEFT");
}

void forward()
{
  analogWrite(enR,255);
  analogWrite(enL,255);
  digitalWrite(in1L, LOW);
  digitalWrite(in2L, HIGH);
  digitalWrite(in2R, LOW);
  digitalWrite(in1R, HIGH);
  Serial.println("forward2");
  
}

void Stop(){
  digitalWrite(in1L, LOW);
  digitalWrite(in2L, LOW);
  digitalWrite(in2R, LOW);
  digitalWrite(in1R, LOW);
Serial.println("Stop");
}