Notes

int leftforward = 3;
int leftbackward = 9;
int rightforward = 11;
int rightbackward = 10;
int var = 0;
int repeat_five = 4;
int repeat_three = 2;
int button = A2;
int beep = A3;

void setup()
{
pinMode(leftforward, OUTPUT);
pinMode(leftbackward, OUTPUT);
pinMode(rightforward, OUTPUT);
pinMode(rightbackward, OUTPUT);
pinMode(button, INPUT);
pinMode(beep, OUTPUT);
Serial.begin(9600);
}

void keyscan() // create a function that allows us to detect button press
{
int value; //variable to store button press
value = digitalRead(button); //read value and store from button press

while(!digitalRead(button)) //while button is not pressed
{
//do nothing
}

while(digitalRead(button)) //while the button is pressed
{
value = digitalRead(button);

if(value == HIGH)
{
digitalWrite(beep, HIGH);

while(!digitalRead(button))
digitalWrite(beep, LOW);

}
}
}
void forward(int time)
{
digitalWrite(leftforward, HIGH);
digitalWrite(rightforward, HIGH);

analogWrite(leftforward, 150);
analogWrite(rightforward, 150);
delay(time);
Serial.println("Doing forward");
}

void reverse(int time)
{
digitalWrite(leftbackward, HIGH);
digitalWrite(rightbackward, HIGH);

analogWrite(leftbackward, 150);
analogWrite(rightbackward, 150);
delay(time);
Serial.println("Doing reverse");
}

void emergency_stop(int time)
{
digitalWrite(leftbackward, LOW);
digitalWrite(rightbackward, LOW);
digitalWrite(rightforward, LOW);
digitalWrite(leftforward, LOW);

analogWrite(leftbackward, 0);
analogWrite(rightbackward, 0);
analogWrite(rightforward, 0);
analogWrite(leftforward, 0);
delay(time);
Serial.println("Doing emergency_stop");
}

void forward_right(int time)
{
digitalWrite(leftforward, HIGH);
analogWrite(leftforward, 150);

digitalWrite(rightforward, LOW);
analogWrite(rightbackward, 0);

digitalWrite(leftbackward, LOW);
analogWrite(leftbackward, 0);

digitalWrite(rightbackward, LOW);
analogWrite(rightbackward, 0);
delay(time);
Serial.println("Doing forward_right");
}


void forward_left(int time)
{
digitalWrite(leftforward, LOW);
analogWrite(leftforward, 0);

digitalWrite(rightforward, HIGH);
analogWrite(rightbackward, 150);

digitalWrite(leftbackward, LOW);
analogWrite(leftbackward, 0);

digitalWrite(rightbackward, LOW);
analogWrite(rightbackward, 0);
delay(time);
Serial.println("Doing forward_left");
}



void spin_right(int time)
{
digitalWrite(leftforward, HIGH);
analogWrite(leftforward, 150);

digitalWrite(rightforward, LOW);
analogWrite(rightbackward, 0);

digitalWrite(leftbackward, HIGH);
analogWrite(leftbackward, 0);

digitalWrite(rightbackward, HIGH);
analogWrite(rightbackward, 150);
delay(time);
Serial.println("Doing spin_right");
}


void spin_left(int time)

{
digitalWrite(leftforward, LOW);
analogWrite(leftforward, 0);

digitalWrite(rightforward, HIGH);
analogWrite(rightbackward, 150);

digitalWrite(leftbackward, HIGH);
analogWrite(leftbackward, 150);

digitalWrite(rightbackward, LOW);
analogWrite(rightbackward, 0);
delay(time);
Serial.println("Doing spin_left");
}

void loop()
{
keyscan();
advance(1000);

}

void loop()
{

while (var <= 1)

{


var += 1;
forward(1000);
emergency_stop(5000);
reverse(1000);

while (repeat_five <= 4)
{
repeat_five += 1;
forward(500);
}
while (repeat_five <= 4)
{
repeat_five += 1;
reverse(500);
}
while (repeat_five <= 4)
{
repeat_five += 1;
spin_left(1000);
}
while (repeat_five <= 4)
{
repeat_five += 1;
spin_right(1000);
}
while (repeat_three <= 2)
{
repeat_three += 1;
forward_right(1000);
}
while (repeat_three <= 2)
{
repeat_three += 1;
forward_left(1000);
}
Serial.println("Complete a track in 's'");
while (repeat_three <= 2)
{
repeat_three += 1;
spin_left(1000);
}
while(repeat_three <= 2)
{
repeat_three += 1;
spin_right(1000);
}

Serial.println("STOP");


}
emergency_stop(1);
}