Sumobot

//library declaration
#include <AFMotor.h>
#include <NewPing.h>

//Ultrasonic pin declaration
#define trigPin 46
#define echoPin 44
NewPing sonar(trigPin, echoPin);

//message storage
String message;

//adjustedEnemySensing for enemy sensing
float adjustedEnemySensing = 100;
float adjustedWhiteSensing = 75;

//pin configuration of IR Sensors
int IR_One = A14;
int IR_Two = A12;
int IR_Three = A10;
int IR_Four = A8;

float val, valTwo, valThree, valFour;

AF_DCMotor motorLeft(2, MOTOR12_64KHZ);        // create motor #2, 64KHz pwm, Left Motor
AF_DCMotor motorRight(1, MOTOR12_64KHZ);         // create motor #1, 64KHz pwm, Right Motor

long calculated;
int dels = 500;

void setup() {
  	// put your setup code here, to run once:
	Serial.begin(9600);
	motorLeft.setSpeed(250);
	motorRight.setSpeed(250);
}

void loop() {
  // put your main code here, to run repeatedly:
	motorLeft.run(BACKWARD);
	motorRight.run(FORWARD);
  //delay(2500);
  senseEnemy();
  if (calculated < adjustedEnemySensing){
      motorRight.run(BACKWARD);
      motorLeft.run(BACKWARD);
      delay(500);
    }
	if (analogRead(IR_One) < adjustedWhiteSensing && analogRead(IR_Two) >  adjustedWhiteSensing ){
    Serial.println("1: ");
    Serial.print(analogRead(IR_One));
    Serial.println("2: ");
    Serial.print(analogRead(IR_Two));
    motorLeft.run(FORWARD);
    motorRight.run(BACKWARD);
    delay(dels);
  }

  if (analogRead(IR_Two) < adjustedWhiteSensing && analogRead(IR_One) > adjustedWhiteSensing){
    Serial.println("1: ");
    Serial.print(analogRead(IR_One));
    Serial.println("2: ");
    Serial.print(analogRead(IR_Two));
    motorLeft.run(BACKWARD);
    motorRight.run(BACKWARD);
    delay(dels);
  }

  if (analogRead(IR_One) < adjustedWhiteSensing && analogRead(IR_Two) < adjustedWhiteSensing){
    Serial.println("1: ");
    Serial.print(analogRead(IR_One));
    Serial.println("2: ");
    Serial.print(analogRead(IR_Two));
    motorLeft.run(BACKWARD);
    motorRight.run(RELEASE);
    delay(dels);    
  }

  if (analogRead(IR_Two) < adjustedWhiteSensing && analogRead(IR_Three) > adjustedWhiteSensing){
    Serial.println("2: ");
    Serial.print(analogRead(IR_Two));
    Serial.println("3: ");
    Serial.print(analogRead(IR_Three));
    motorLeft.run(BACKWARD);
    motorRight.run(BACKWARD);
    delay(dels);    
  }

  if (analogRead(IR_Two) > adjustedWhiteSensing && analogRead(IR_Three) < adjustedWhiteSensing){
    Serial.println("2: ");
    Serial.print(analogRead(IR_Two));
    Serial.println("3: ");
    Serial.print(analogRead(IR_Three));
    motorLeft.run(RELEASE);
    motorRight.run(BACKWARD);
    delay(dels);    
  }


  if (analogRead(IR_Two) < adjustedWhiteSensing && analogRead(IR_Three) < adjustedWhiteSensing){
    Serial.println("2: ");
    Serial.print(analogRead(IR_Two));
    Serial.println("3: ");
    Serial.print(analogRead(IR_Three));
    motorLeft.run(BACKWARD);
    motorRight.run(BACKWARD);
    delay(dels);    
  }

  if (analogRead(IR_Three) < adjustedWhiteSensing && analogRead(IR_Four) > adjustedWhiteSensing){
    Serial.println("3: ");
    Serial.print(analogRead(IR_Three));
    Serial.println("4: ");
    Serial.print(analogRead(IR_Four));
    motorLeft.run(RELEASE);
    motorRight.run(BACKWARD);
    delay(dels);    
  }

  if (analogRead(IR_Three) > adjustedWhiteSensing && analogRead(IR_Four) < adjustedWhiteSensing){
    Serial.println("3: ");
    Serial.print(analogRead(IR_Three));
    Serial.println("4: ");
    Serial.print(analogRead(IR_Four));
    motorLeft.run(RELEASE);
    motorRight.run(FORWARD);
    delay(dels);        
  }

  if (analogRead(IR_Three) < adjustedWhiteSensing && analogRead(IR_Four) < adjustedWhiteSensing){
    Serial.println("3: ");
    Serial.print(analogRead(IR_Three));
    Serial.println("4: ");
    Serial.print(analogRead(IR_Four));
    motorLeft.run(RELEASE);
    motorRight.run(FORWARD);
    delay(dels);    
  }

  if (analogRead(IR_One) < adjustedWhiteSensing && analogRead(IR_Four) > adjustedWhiteSensing){
    Serial.println("1: ");
    Serial.print(analogRead(IR_One));
    Serial.println("4: ");
    Serial.print(analogRead(IR_Four));
    motorLeft.run(FORWARD);
    motorRight.run(RELEASE);
    delay(dels);    
  }

  if (analogRead(IR_One) > adjustedWhiteSensing && analogRead(IR_Four) < adjustedWhiteSensing){
    Serial.println("1: ");
    Serial.print(analogRead(IR_One));
    Serial.println("4: ");
    Serial.print(analogRead(IR_Four));
    motorLeft.run(RELEASE);
    motorRight.run(FORWARD);
    delay(dels);    
  }

  if (analogRead(IR_One) < adjustedWhiteSensing && analogRead(IR_Four) < adjustedWhiteSensing){
    Serial.println("1: ");
    Serial.print(analogRead(IR_One));
    Serial.println("4: ");
    Serial.print(analogRead(IR_Four));
    motorLeft.run(FORWARD);
    motorRight.run(FORWARD);
    delay(dels);    
  }

  //else{
  //  motorLeft.run(BACKWARD);
  //  motorRight.run(BACKWARD);
  //}
}

void senseEnemy(){
  long calculated;
  unsigned int uS = sonar.ping(); // Send ping, get ping time in microseconds (uS)
  calculated = uS / US_ROUNDTRIP_CM; // Convert ping time to distance in cm and print result (0 = outside set distance range)
  message = "Ping: ";
  message.concat(calculated);
  Serial.println(message);
}