Çizgi izleyen robot projesi

Arduino
1

Merhaba Youtube’da bulunan Çizgi İzleyen Robot proje videosunun hazır kodlarını bulamadım.
Rica etsem atabilir misiniz?

2

int LeftDir = 13;
int RightDir = 12;
int SolPwm = 11;
int SagPwm = 3;
int Buzzer = 16;
int Reference;
void setup()
{
pinMode(A3, INPUT);
pinMode(A5, INPUT);
pinMode(LeftDir, OUTPUT);
pinMode(RightDir, OUTPUT);
pinMode(Buzzer, OUTPUT);
}

void loop () {
analogWrite(SolPwm, 0);
analogWrite(SagPwm, 0);

tone(Buzzer, 30, 300);
digitalWrite(Buzzer, LOW);
Reference = analogRead(A1);
tone(Buzzer, 10, 1000);
digitalWrite(Buzzer, LOW);

while (1) {

if (analogRead(A1)> (Reference +100 ) ){
 analogWrite(SolPwm, 145);

digitalWrite (LeftDir, HIGH);
analogWrite(SagPwm, 100);
digitalWrite (RightDir, LOW);
} else if (analogRead(A1) < (Reference -100 ) ){
analogWrite(SagPwm, 145);
digitalWrite (RightDir, HIGH);
analogWrite(SolPwm, 100);
digitalWrite (LeftDir, LOW);
} else {
analogWrite(SagPwm, 75);
digitalWrite (RightDir, HIGH);
analogWrite(SolPwm, 75);
digitalWrite (LeftDir, HIGH);
}
}
}