CÓDIGOS

codigo normal:

/***   Included libraries  ***/

/***   Global variables and function definition  ***/
const int IN1_11 = 11;
const int IN2_10 = 10;
const int IN3_12 = 12;
const int IN4 = 13;
const int ENB = 6;
const int ENA = 5;
const int ir_izda = 2;
const int ir_dcha = 3;

float Sensor_izda = 0;
float sensor_dcha = 0;
float VELOCIDAD = 200;
void avanza() {
    digitalWrite(IN1_11, HIGH);
    digitalWrite(IN2_10, LOW);
    digitalWrite(IN3_12, HIGH);
    digitalWrite(IN4, LOW);
    analogWrite(5, VELOCIDAD);
    analogWrite(6, VELOCIDAD);
}
void retrocede() {
    digitalWrite(IN1_11, LOW);
    digitalWrite(IN2_10, HIGH);
    digitalWrite(IN3_12, LOW);
    digitalWrite(IN4, HIGH);
    analogWrite(5, VELOCIDAD);
    analogWrite(6, VELOCIDAD);
}
void izquierda() {
    digitalWrite(IN1_11, LOW);
    digitalWrite(IN2_10, HIGH);
    digitalWrite(IN3_12, HIGH);
    digitalWrite(IN4, LOW);
    analogWrite(5, VELOCIDAD);
    analogWrite(6, VELOCIDAD);
}
void derecha() {
    digitalWrite(IN1_11, HIGH);
    digitalWrite(IN2_10, LOW);
    digitalWrite(IN3_12, LOW);
    digitalWrite(IN4, HIGH);
    analogWrite(6, VELOCIDAD);
    analogWrite(5, VELOCIDAD);
}
void parar() {
    digitalWrite(IN1_11, LOW);
    digitalWrite(IN2_10, LOW);
    digitalWrite(IN3_12, LOW);
    digitalWrite(IN4, LOW);
    digitalWrite(ENB, LOW);
    digitalWrite(ENA, LOW);
}



/***   Setup  ***/
void setup() {
    pinMode(IN1_11, OUTPUT);
    pinMode(IN2_10, OUTPUT);
    pinMode(IN3_12, OUTPUT);
    pinMode(IN4, OUTPUT);
    pinMode(ENB, OUTPUT);
    pinMode(ENA, OUTPUT);
    pinMode(ir_izda, INPUT);
    pinMode(ir_dcha, INPUT);

}


/***   Loop  ***/
void loop() {
    Sensor_izda = digitalRead(ir_izda);
    sensor_dcha = digitalRead(ir_dcha);
    if (((Sensor_izda == sensor_dcha) && (Sensor_izda > 0))) {
        avanza();
    } else if ((Sensor_izda > sensor_dcha)) {
        izquierda();
    } else if ((Sensor_izda < sensor_dcha)) {
        derecha();
    }
    if (((Sensor_izda == sensor_dcha) && (Sensor_izda == 0))) {
        parar();
    }
}

propuesta linea 90 grados

/***   Included libraries  ***/

/***   Global variables and function definition  ***/
const int sensor_2 = 13;
const int sensor_1 = 12;
const int LED = 7;
const int LED_2 = 6;
const int LED_3 = 5;
const int sensor_3 = 11;

void AVANZA() {
    digitalWrite(LED, HIGH);
    digitalWrite(LED_2, HIGH);
    digitalWrite(LED_3, HIGH);
    digitalWrite(sensor_1, HIGH);
    digitalWrite(sensor_2, HIGH);
    digitalWrite(sensor_3, HIGH);
}
void PARAR() {
    digitalWrite(LED, LOW);
    digitalWrite(LED_2, LOW);
    digitalWrite(LED_3, LOW);
}
void GIRAR_90_GRAD0S_() {
    digitalWrite(LED, HIGH);
    digitalWrite(LED_2, HIGH);
    digitalWrite(LED_3, HIGH);
    digitalWrite(sensor_2, HIGH);
    digitalWrite(sensor_1, HIGH);
    digitalWrite(sensor_3, HIGH);
}



/***   Setup  ***/
void setup() {
    pinMode(sensor_2, INPUT);
    pinMode(sensor_1, INPUT);
    pinMode(LED, OUTPUT);
    pinMode(LED_2, OUTPUT);
    pinMode(LED_3, OUTPUT);
    pinMode(sensor_3, INPUT);

}


/***   Loop  ***/
void loop() {
    if (digitalRead(sensor_1) > 30) {
        AVANZA();
    } else if (digitalRead(sensor_2) < 20) {
        PARAR();
    }
    if (digitalRead(sensor_3) < 10) {
        GIRAR_90_GRAD0S_();
    }
}