#define IMDX 3
#define IMSX 9
#define ddx 7
#define dsx 8
#define buzzer 2
#define fotorSX A0
#define fotorCE A1
#define fotorDX A2
#define pot A3
#define trig 4
#define echo 6

int sx=0;
int ce=0;
int dx=0;
int posizione;
int velocita;
int distanza;
int durata;
int pros=0;

void setup()
{
  Serial.begin(9600);
  pinMode(fotorSX,INPUT);
  pinMode(fotorCE,INPUT);
  pinMode(fotorDX,INPUT);
  pinMode(IMSX,OUTPUT);
  pinMode(IMDX,OUTPUT);
  pinMode(dsx,OUTPUT);
  pinMode(ddx,OUTPUT);
  pinMode(buzzer,OUTPUT);
  pinMode(trig,OUTPUT);
  pinMode(echo,INPUT);
}
void loop()
{
 
 posizione=analogRead(pot);
 Serial.println(posizione);
 velocita=map(posizione,0,1023,0,255);
 sx=analogRead(fotorSX);
 Serial.print("sx");
 Serial.println(sx);
 delay(5);
 dx=analogRead(fotorDX);
 Serial.print("dx");
 Serial.println(dx);
 delay(5);
 ce=analogRead(fotorCE);
 Serial.print("ce");
 Serial.println(ce);
 delay(5);
 digitalWrite(trig,LOW);
 delayMicroseconds(2);
 digitalWrite(trig,HIGH);
 delayMicroseconds(10);
 digitalWrite(trig,LOW);
 durata=pulseIn(echo,HIGH);
 distanza=durata/58;
 if(distanza>=10)
 {
 if(ce>=sx&&ce>=dx&&ce>700)
 {
 digitalWrite(dsx,HIGH);
 digitalWrite(ddx,HIGH);
 analogWrite(IMSX,velocita);
 analogWrite(IMDX,velocita);
 delay(100);
 }
if(sx>dx)
{
 digitalWrite(dsx,HIGH);
 digitalWrite(ddx,HIGH);
 analogWrite(IMSX,0);
 analogWrite(IMDX,velocita);
 delay(100);
}
if(dx>sx) //O
{
digitalWrite(dsx,HIGH);
digitalWrite(ddx,HIGH);
analogWrite(IMSX,velocita);
analogWrite(IMDX,0);
delay(100);
}
if(ce>=sx && ce>=dx && ce<=700)
{
 analogWrite(IMSX,0);
 analogWrite(IMDX,0);
 delay(100);
}
 }
 if(distanza<10)
{
 analogWrite(IMSX,0);
 analogWrite(IMDX,0);
 digitalWrite(buzzer,HIGH);
 delay(500);
 digitalWrite(buzzer,LOW);
 digitalWrite(dsx,LOW);
 digitalWrite(ddx,LOW);
 analogWrite(IMSX,velocita);
 analogWrite(IMDX,velocita);
 delay(1000);
}
}