#include <Arduino.h>
#include <U8glib.h>

#include <Microduino_Motor.h>
int var_speed;
U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE);

Motor MotorLeft(MOTOR0_PINA, MOTOR0_PINB);
Motor MotorRight(MOTOR1_PINA, MOTOR1_PINB);

void setup()
{
    MotorLeft.begin();
    MotorRight.begin();
    var_speed=40;

}

void loop()
{
    delay(0.1*1000);
    var_black=analogRead(A6);
    u8g.setFont(u8g_font_9x15);
    u8g.firstPage();
    do
    {

        u8g.setPrintPos(10, 10);
        u8g.print(String("Bl:")+String((var_black)));


        u8g.setPrintPos(10, 30);
        u8g.print(String("A0:")+String((analogRead(A0))));


        u8g.setPrintPos(10, 50);
        u8g.print(String("A2:")+String((analogRead(A2))));

        if(((((analogRead(A0)) < (var_black))) && (((analogRead(A2)) < (var_black)))))
        {
            MotorLeft.setSpeed(var_speed);
            MotorRight.setSpeed(0-(var_speed));

        }
        else
        {
            if(((analogRead(A0)) > 700))
            {
                MotorLeft.setSpeed(var_black);
                MotorRight.setSpeed(0-(var_speed));

            }
            else
            {
                MotorLeft.setSpeed(var_speed);
                MotorRight.setSpeed(0);

            }

        }

    }
    while (u8g.nextPage());


}