segue linha

gistfile1.txt

int sl = 2;
int sr = 3;
int sts_l = 0;
int sts_r = 0;
int erro = 0;

int md1 = 5;
int md2 = 6;
int me1 = 7;
int me2 = 8;
int enableE = 9;
int enableD = 10;

void setup() {
  Serial.begin(9600);
  pinMode(sl, INPUT);
  pinMode(sr, INPUT);
  
  pinMode(md1, OUTPUT);
  pinMode(md2, OUTPUT);
  pinMode(me1, OUTPUT);
  pinMode(me2, OUTPUT);
}

void loop() {
  sts_l = digitalRead(sl);
  sts_r = digitalRead(sr);
  erro = sts_r - sts_l;
  analogWrite(enableE,255);
  analogWrite(enableD,255);
  if(erro == 0){
    digitalWrite(md1, HIGH);
    digitalWrite(md2, LOW);
    digitalWrite(me1, LOW);
    digitalWrite(me2, HIGH);
  }
  if(erro == 1){
    digitalWrite(md1, LOW);
    digitalWrite(md2, LOW);
    digitalWrite(me1, LOW);
    digitalWrite(me2, HIGH);
  }
  if(erro == -1){
    digitalWrite(md1, HIGH);
    digitalWrite(md2, LOW);
    digitalWrite(me1, LOW);
    digitalWrite(me2, LOW);
  }
}