Işık İzleyen Arduino Tank Robotu

// Işık İzleyen Robot Kodları
const int RightMotor = 6;    // Sağ Motor Pini
const int LeftMotor = 7;     // Sol Motor Pini
const int RightSensor = A0;    // Sağ Sensör Pini
const int LeftSensor = A1;     // Sol Sensör Pini

// Değişkenler

int SensorLeft;         // Sol Sensör
int SensorRight;        // Sağ Sensör
int SensorDifference;  


void setup()   {                

  pinMode(LeftMotor, OUTPUT);      
  pinMode(RightMotor, OUTPUT);     
  pinMode(LeftSensor, INPUT);      
  pinMode(RightSensor, INPUT);   
  digitalWrite(A0, HIGH);          
  digitalWrite(A1, HIGH);          
  Serial.begin(9600);              
  Serial.println(" \nIşık Algılanıyor"); 
}

void loop()    {
  SensorLeft =  1023 - analogRead(LeftSensor);               
  delay(1);
  SensorRight = 1023 - analogRead(RightSensor);         
  delay(1);
  SensorDifference = abs(SensorLeft - SensorRight);   


  Serial.print("Sol Sensor = ");                 
  Serial.print(SensorLeft);                        
  Serial.print("\t");                                
  Serial.print("Sağ Sensor = ");                   
  Serial.print(SensorRight);                         
  Serial.print("\t");                                

  if (SensorLeft > SensorRight && SensorDifference > 75) {    
    digitalWrite(RightMotor, LOW);                             
    digitalWrite(LeftMotor, HIGH);                              
    Serial.println("Sola Dönüş");                                    
  }

  if (SensorLeft < SensorRight && SensorDifference > 75) {   
    digitalWrite(RightMotor, HIGH);                             
    digitalWrite(LeftMotor, LOW);                              
    Serial.println("Sağa Dönüş");                                   
  }

  else if (SensorDifference < 75) {                             
    digitalWrite(RightMotor, HIGH);                              
    digitalWrite(LeftMotor, HIGH);                             
    Serial.println("İleri Hareket");                                  
  }
  Serial.print("\n");
}