Çizgi izleyen robot

Arduino Kod:

int ENABLE_A = 11;
int pin_a1 = 9;
int pin_a2 = 8;

int ENABLE_B = 5;
int pin_b1 = 6;
int pin_b2 = 7;

int Sol = A0;
int Orta = A1;
int Sag = A2;

int SolDeger;
int OrtaDeger;
int SagDeger;
int eDeger=750;
int SonDonus=0;

void setup() {

  //Serial.begin(9600);
  //pin mode for the DC motors
  pinMode (ENABLE_A, OUTPUT);
  pinMode (pin_a1, OUTPUT);
  pinMode (pin_a2, OUTPUT);

  pinMode (ENABLE_B, OUTPUT);
  pinMode (pin_b1, OUTPUT);
  pinMode (pin_b2, OUTPUT);

}
void loop() {

  SolDeger=analogRead(Sol);
  OrtaDeger=analogRead(Orta);
  SagDeger=analogRead(Sag);

  //Serial.print("Sol: ");
  //Serial.print(SolDeger);  //Analog değeri yazdırıyoruz.
  //Serial.print("  ");
  //Serial.print("Orta: ");
  //Serial.print(OrtaDeger);  //Analog değeri yazdırıyoruz.

  //Serial.print("  ");
  //Serial.print("Sag: ");
  //Serial.println(SagDeger);  //Analog değeri yazdırıyoruz.

  if (OrtaDeger>eDeger) {
    goForward();
  }
  else if (SolDeger<eDeger && OrtaDeger<eDeger && SagDeger>eDeger) {

    while(analogRead(Orta)<eDeger) {
     goRight();
    }
    SonDonus=1;
  }
  else if (SolDeger>eDeger && OrtaDeger<eDeger && SagDeger<eDeger) {

    while(analogRead(Orta)<eDeger) {
     goLeft();
    }
    SonDonus=2;
  }
  else if (SolDeger<eDeger && OrtaDeger<eDeger && SagDeger<eDeger) {
      if (SonDonus==1) {
        goRight();
        SonDonus=1;
      }
      else if (SonDonus==2) {
        goLeft();
        SonDonus=2;
      }
  }

  delay(11);
}

void goForward(){

  analogWrite (ENABLE_A, 180);
  digitalWrite (pin_a1, HIGH);
  digitalWrite (pin_a2, LOW);
  analogWrite (ENABLE_B, 180);
  digitalWrite (pin_b1, HIGH);
  digitalWrite (pin_b2, LOW);
 
}

void goRight(){

  analogWrite (ENABLE_A, 130);
  digitalWrite (pin_a1, HIGH);
  digitalWrite (pin_a2, LOW);
  analogWrite (ENABLE_B, 130);
  digitalWrite (pin_b1, LOW);
  digitalWrite (pin_b2, HIGH);

}

void goLeft(){

  analogWrite (ENABLE_A, 130);
  digitalWrite (pin_a1, LOW);
  digitalWrite (pin_a2, HIGH);
  analogWrite (ENABLE_B, 130);
  digitalWrite (pin_b1, HIGH);
  digitalWrite (pin_b2, LOW);

}