int LMotor=10;

 int RMotor=9;

int val = 0;

int off = 0;

int reverse;

int forward;

int circle;

 //int move;

int turn;

int aheadY;

int turnX;

void setup() {

 pinMode (5,OUTPUT);

 pinMode (6,OUTPUT);

 pinMode (11,OUTPUT);

 pinMode (12,OUTPUT);

 pinMode(LMotor,OUTPUT);

 pinMode(RMotor,OUTPUT);

 pinMode(13,HIGH);

 Serial.begin(9600);

}

void loop() {

 reverse=pulseIn(4,HIGH);

 aheadY =pulseIn(7,HIGH);

 turnX = pulseIn(8,HIGH);

 forward = map(aheadY, 1000,1882, 35, 255);

 circle = map(turnX,1030,1889,-225,225);

 turn = map(turnX, 1030,1889,-128,127);

 turn = constrain(turn, -128,127);

  if (circle < 0){

   circle = -1 *circle;

   }

  if (reverse <1200 )

{

  digitalWrite (5,LOW);

  delay(1);

  digitalWrite(6,HIGH);

  delay(1);

   digitalWrite (11,LOW);

  delay(1);

  digitalWrite(12,HIGH);

  delay(1);

  digitalWrite(13,LOW);

}

  if (reverse>1200){

  digitalWrite (6,LOW);

  delay(1);

  digitalWrite(5,HIGH);

  delay(1);

   digitalWrite (12,LOW);

  delay(1);

  digitalWrite(11,HIGH);

  delay(1);

  digitalWrite(13,HIGH);

  }

if (forward < 60 && turn < -15){

 digitalWrite (6,LOW);

  delay(1);

  digitalWrite(5,HIGH);                       //left rotaion

  delay(1);

   digitalWrite (11,LOW);

  delay(1);

  digitalWrite(12,HIGH);

  analogWrite (LMotor,circle);

 analogWrite (RMotor,circle);

 Serial.print("  L rota");

}

if (forward < 60 && turn > 15){

 digitalWrite (5,LOW);

  delay(1);

  digitalWrite(6,HIGH);                        //right rotaion

  delay(1);

   digitalWrite (12,LOW);

  delay(1);

  digitalWrite(11,HIGH);

   analogWrite (LMotor,circle);

 analogWrite (RMotor,circle);

 Serial.print("  R rot");

 }  

 //Serial.print("  aheadY  ");

// Serial.print(aheadY);

 //Serial.print("  turn  ");

// Serial.print(turnX);

 Serial.print("   forward   ");

 Serial.print(forward);

 Serial.print("  Turn     ");

 Serial.print(turn);

 Serial.print("   circle  ");

 Serial.print(circle);

// Serial.println(reverse);

 if (forward > 60 &&turn >=-16 && turn <=16)  //  forward

 {

 analogWrite (LMotor,forward);

 analogWrite (RMotor,forward);

 Serial.print("  go forward");

}

 if (forward <= 60 && turn >=-16 && turn <=16 )

 {

   analogWrite (LMotor,0);  //  no effect

   analogWrite (RMotor,0);

   Serial.print("  stop");

 }

 if (turn <=-15 && forward > 60)   // forward left

 {

 analogWrite (LMotor,forward );    

 analogWrite (RMotor,0);

 Serial.print("  forward left");

 }

 if (turn >=15 && forward > 60)     // forward right

 {

 analogWrite (LMotor,0);

 analogWrite (RMotor,forward );

 Serial.print("   forward left");

 }

Serial.println(" ");

}