int IR = 6; 
int zumbador = 8;
int camara = 11;
int bit1 = 0;
int bit2 = 1;
int bit3 = 2;
int bit4 = 3;
int val1 = 0;
int val2 = 0;
int val3 = 0;
int val4 = 0;
int val = 0;
int speed1 = 9;
int speed2 = 10;
int g1a = 2;
int g1b = 3;
int g2a = 5;
int g2b = 4;

void izquierda(int iz) 
{ 
  digitalWrite(g1a,  HIGH);
  digitalWrite(g1b,  LOW);
  analogWrite(speed1, iz);
}

void derecha(int der) 
{ 
  digitalWrite(g1a,  LOW);
  digitalWrite(g1b,  HIGH);
  analogWrite(speed1, der);
}
 
void avanza(int av) 
{ 
  digitalWrite(g2a,  HIGH);
  digitalWrite(g2b,  LOW);
  analogWrite(speed2, av);
} 

void retrocede(int re) 
{ 
  digitalWrite(g2a,  LOW);
  digitalWrite(g2b,  HIGH);
  analogWrite(speed2, re);
} 

void stop_b()
{
  digitalWrite(g1a,  LOW);
  digitalWrite(g1b,  LOW);
  analogWrite(speed1, 0);
}

void stop_a()
{
  digitalWrite(g2a,  LOW);
  digitalWrite(g2b,  LOW);
  analogWrite(speed2, 0);
}

void setup() 
{ 
  Serial.begin(9600); 
  delay(100); 
  pinMode(IR, OUTPUT);
  pinMode(zumbador, OUTPUT);
  pinMode(camara, OUTPUT);
  pinMode(14, INPUT);
  pinMode(15, INPUT);
  pinMode(16, INPUT);
  pinMode(17, INPUT);
  digitalWrite(14, HIGH);
  digitalWrite(15, HIGH);
  digitalWrite(16, HIGH);
  digitalWrite(17, HIGH);
  if (analogRead(bit1)>512) val1=1;
  else val1=0;
  if (analogRead(bit2)>512) val2=2;
  else val2=0;
  if (analogRead(bit3)>512) val3=4;
  else val3=0;
  if (analogRead(bit4)>512) val4=8;
  else val4=0;
  val=val1+val2+val3+val4;
  Serial.print("Hola, soy el robot numero ");
  Serial.println(val);
  
} 

void loop() 
{ 
   if (Serial.available()) {
    val = Serial.read();
    if (val == 'W') {
      avanza(255);
      digitalWrite(camara,  HIGH);
    } 
    if (val == 'Z') {
      retrocede(255);
      digitalWrite(camara,  HIGH);
    }
    if (val == 'A') {
      izquierda(255);
      digitalWrite(camara,  HIGH);
    }
    if (val == 'S') {
      derecha(255);
      digitalWrite(camara,  HIGH);
    }
    if (val == 'P') {
      stop_a();
      digitalWrite(camara,  LOW);
    }
    if (val == 'O') {
      stop_b();
      digitalWrite(camara,  LOW);
    }
  }
  /*avanza(200);
  derecha(200);
  delay(1000);
  retrocede(200);
  izquierda(200);
  delay(1000);*/
}