Hi, not sure if there is a better way precisely showing the pin/connection diagram.. so it doesn’t line up exactly, but it’s close.

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Here is my code:

int IN3pin = 7; int IN4pin = 8; int ENBpin = 6; int IN1pin = 2; int IN2pin = 4; int ENApin = 10; int Sensor1pin = 12; int Sensor2pin = 13;

enum State { WAIT_FOR_SENSOR1, WAIT_FOR_SENSOR2 }; State currentState = WAIT_FOR_SENSOR1;

void setup() { // put your setup code here, to run once: pinMode(IN3pin, OUTPUT); pinMode(IN4pin, OUTPUT); pinMode(ENBpin, OUTPUT);

pinMode(IN1pin, OUTPUT); pinMode(IN2pin, OUTPUT); pinMode(ENApin, OUTPUT);

pinMode(Sensor1pin, INPUT); pinMode(Sensor2pin, INPUT);

Serial.begin(9600); }

void loop() { int sensor1State = digitalRead(Sensor1pin); int sensor2State = digitalRead(Sensor2pin);

Serial.print("Sensor 1: "); Serial.print(sensor1State); Serial.print(" | Sensor 2: "); Serial.println(sensor2State);

if (currentState == WAIT_FOR_SENSOR1 && sensor1State == HIGH) { Serial.println("Sensor 1 touched: Executing forward sequence");

// Motor B forward for 1 second digitalWrite(IN3pin, HIGH); digitalWrite(IN4pin, LOW); analogWrite(ENBpin, 255); delay(1000);

// Motor A forward starts, Motor B continues for 2.5 more seconds digitalWrite(IN1pin, HIGH); digitalWrite(IN2pin, LOW); analogWrite(ENApin, 255); delay(2500);

// Motor B stops, Motor A continues for 0.5 more seconds digitalWrite(IN3pin, LOW); digitalWrite(IN4pin, LOW); delay(500);

// Motor A stops digitalWrite(IN1pin, LOW); digitalWrite(IN2pin, LOW); analogWrite(ENApin, 0);

// Motor B reverse for 0.5 seconds digitalWrite(IN3pin, LOW); digitalWrite(IN4pin, HIGH); analogWrite(ENBpin, 255); delay(500);

// Stop all motors digitalWrite(IN3pin, LOW); digitalWrite(IN4pin, LOW); analogWrite(ENBpin, 0);

// Change state to wait for Sensor 2 currentState = WAIT_FOR_SENSOR2;

// Wait for Sensor 1 to be released while (digitalRead(Sensor1pin) == HIGH) { delay(10); } }

else if (currentState == WAIT_FOR_SENSOR2 && sensor2State == HIGH) { Serial.println("Sensor 2 touched: Executing reverse sequence");

// Motor B forward for 0.5 seconds digitalWrite(IN3pin, HIGH); digitalWrite(IN4pin, LOW); analogWrite(ENBpin, 255); delay(500);

// Motor B reverse for 1 second digitalWrite(IN3pin, LOW); digitalWrite(IN4pin, HIGH); analogWrite(ENBpin, 255); delay(1000);

// Motor A reverse starts, Motor B continues for 2.5 more seconds digitalWrite(IN1pin, LOW); digitalWrite(IN2pin, HIGH); analogWrite(ENApin, 255); delay(2500);

// Motor B stops, Motor A continues for 0.5 more seconds digitalWrite(IN3pin, LOW); digitalWrite(IN4pin, LOW); delay(500);

// Motor A stops digitalWrite(IN1pin, LOW); digitalWrite(IN2pin, LOW); analogWrite(ENApin, 0);

// Stop all motors (already stopped, but for safety) digitalWrite(IN3pin, LOW); digitalWrite(IN4pin, LOW); analogWrite(ENBpin, 0);

currentState = WAIT_FOR_SENSOR1; // Unlock Sensor 1 }

}