int motor1Pin1 = 11; // pin 7 on L293D IC
int motor1Pin2 = 10; // pin 8 on L293D IC
int motor2Pin1 = 9; // pin 12 on L293D IC
int motor2Pin2 = 8; // pin 13 on L293D IC 


int EnPinL = 6; // pin 12 on L293D IC
int EnPinR = 7; // pin 13 on L293D IC 

int Sensor_1 = 0;
int Sensor_2 = 0;

int pirPin = 13;

int ledPir = 4;

String readBT;

void setup() {
    // sets the pins as outputs:
    Serial.begin(9600);
    pinMode(motor1Pin1, OUTPUT);
    pinMode(motor1Pin2, OUTPUT);
    pinMode(motor2Pin1, OUTPUT);
    pinMode(motor2Pin2, OUTPUT);

    pinMode(EnPinL, OUTPUT);
    pinMode(EnPinR, OUTPUT);

    pinMode(pirPin, INPUT);

    pinMode(ledPir, OUTPUT);

    digitalWrite(ledPir,LOW);

}


void loop() {


     Sensor_2 = analogRead(A0);
    Sensor_1 = analogRead(A1);
  while (Serial.available()){
    
  delay (3);
  char c = Serial.read();
  readBT += c;
  }

  if (readBT.length() >0) {
    Serial.println(readBT);
    if (readBT == "2ON")
    {
      digitalWrite(EnPinL, HIGH);
      digitalWrite(EnPinR, HIGH);
    }
    if (readBT == "2OFF")
    {
    digitalWrite(EnPinL, LOW);
   digitalWrite(EnPinR, LOW);
      
    }
    readBT ="";}

    if (digitalRead(pirPin) == HIGH){
      Serial.println("Motion Detected");
      digitalWrite(ledPir,HIGH);
      
    }

    if (digitalRead(pirPin) == LOW){
      Serial.println("No Motion");
      digitalWrite(ledPir,LOW);
    }
      if (Sensor_1 < 300 && Sensor_2 > 300)
      {
           Serial.println("Moving Backward");
      digitalWrite(motor1Pin1, LOW);
      digitalWrite(motor1Pin2, HIGH);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, LOW);
      delay(1000);
        Serial.println("Right Turn");
      digitalWrite(motor1Pin1, HIGH);
      digitalWrite(motor1Pin2, LOW);
      digitalWrite(motor2Pin1, LOW);
      digitalWrite(motor2Pin2, LOW);
       delay(1000);
        }

      else if (Sensor_2 <300 && Sensor_1 > 300)
      {
           Serial.println("Moving Backward");
      digitalWrite(motor1Pin1, LOW);
      digitalWrite(motor1Pin2, HIGH);
      digitalWrite(motor2Pin1, HIGH);
      digitalWrite(motor2Pin2, LOW);
      delay(1000);
        Serial.println("Left Turn");
      digitalWrite(motor1Pin1, LOW);
      digitalWrite(motor1Pin2, LOW);
      digitalWrite(motor2Pin1, LOW);
      digitalWrite(motor2Pin2, HIGH);
       delay(1000);
        }

      else
      {
         Serial.println("Moving Forward");
      digitalWrite(motor1Pin1, HIGH);
      digitalWrite(motor1Pin2, LOW);
      digitalWrite(motor2Pin1, LOW);
      digitalWrite(motor2Pin2, HIGH);
      }

      }