int mRechts = 12;
int mLinks = 13;
int mRbremse = 9;
int mLbremse = 8;
int geschwindigkeit;
int burstenMotor = 10;
int LEDrot= 4;
int LEDgelb= 5;
int LEDgruengelb=6;
int LEDgruen=7;
int StartStop =2;
int putzen;
int IR1 = 5;
int IR2 = 4;
int IR3 = 1;

  
void setup() {
    
  pinMode(mRechts, OUTPUT); //Richtung Motor rechts
  pinMode(mRbremse, OUTPUT); //Bremse Motor rechts
  
  pinMode(mLinks, OUTPUT); //Richtung Motor links
  pinMode(mLbremse, OUTPUT);  //Bremse Motor links

  pinMode(burstenMotor,OUTPUT);  //Bürstenmotor

  pinMode(LEDrot,OUTPUT);  //LED ROT
  pinMode(LEDgelb,OUTPUT);  //LED Gelb
  pinMode(LEDgruengelb,OUTPUT);  //LED Grün1
  pinMode(LEDgruen,OUTPUT);  //LED Grün2
  
  digitalWrite(burstenMotor, LOW);
  digitalWrite(mRbremse, HIGH);
  digitalWrite(mLbremse, HIGH);
  
  do{
    int akkuAdc = analogRead(A0);
    float voltage = akkuAdc * (5.0 / 1023.0);
    voltage = voltage *3.13;

      if(voltage >10.5){
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, HIGH);
        digitalWrite(LEDgruengelb, HIGH);
        digitalWrite(LEDgruen, HIGH);
      }
      else if(voltage> 9){
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, HIGH);
        digitalWrite(LEDgruengelb, HIGH);
        digitalWrite(LEDgruen, LOW);  
      }
      else if(voltage> 8){
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, HIGH);
        digitalWrite(LEDgruengelb, LOW);
        digitalWrite(LEDgruen, LOW);  
      }
      else{
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, LOW);
        digitalWrite(LEDgruengelb, LOW);
        digitalWrite(LEDgruen, LOW); 
      }   
  }while(digitalRead(StartStop)==0);

  delay(1000);
}



void loop() {

      
      int akkuAdc = analogRead(A0);
      float voltage = akkuAdc * (5.0 / 1023.0);
      voltage = voltage *3.13;

      if(voltage >10.5){
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, HIGH);
        digitalWrite(LEDgruengelb, HIGH);
        digitalWrite(LEDgruen, HIGH);

        geschwindigkeit= 100;
      }
      else if(voltage> 9){
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, HIGH);
        digitalWrite(LEDgruengelb, HIGH);
        digitalWrite(LEDgruen, LOW); 
        geschwindigkeit=200; 
      }
      else if(voltage> 8){
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, HIGH);
        digitalWrite(LEDgruengelb, LOW);
        digitalWrite(LEDgruen, LOW);  
        geschwindigkeit= 255;
      }
      else{
        digitalWrite(LEDrot, HIGH);
        digitalWrite(LEDgelb, LOW);
        digitalWrite(LEDgruengelb, LOW);
        digitalWrite(LEDgruen, LOW); 
        geschwindigkeit= 0; 
      }

      int IRvr = analogRead(IR1);
      int IRvl = analogRead(IR2);
      int IRh = analogRead(IR3);

      digitalWrite(burstenMotor, HIGH);

      
     if(IRvr >500 && IRvl>500){
         if(IRh>400){
          goto nurdrehen;
         }
         digitalWrite(burstenMotor, LOW);
         digitalWrite(mRechts,LOW);
         digitalWrite(mLinks,LOW);
         analogWrite(3,geschwindigkeit);
         analogWrite(11,geschwindigkeit); 
         delay(1000);
         nurdrehen:
         digitalWrite(mRechts,LOW);
         digitalWrite(mLinks,HIGH);
         analogWrite(3,geschwindigkeit);
         analogWrite(11,geschwindigkeit);  
         delay(1000);
         digitalWrite(burstenMotor, HIGH);
      }
      else if(IRvr>350){
        digitalWrite(mRechts,HIGH);
        digitalWrite(mLinks,LOW);
        analogWrite(3,geschwindigkeit);
        analogWrite(11,50);
      }
      else if(IRvl>350){
        digitalWrite(mRechts,LOW);
        digitalWrite(mLinks,HIGH);
        analogWrite(3,50);
        analogWrite(11,geschwindigkeit);  
      }

      else{
        digitalWrite(mRbremse, LOW);
        digitalWrite(mLbremse, LOW);  

        digitalWrite(mRechts,HIGH);
        digitalWrite(mLinks,HIGH);
        analogWrite(3,geschwindigkeit);
        analogWrite(11,geschwindigkeit);
      }
}