const int fire = 10;

const int m1a = 3; 
const int m1b = 5; 

const int m2a = 6; 
const int m2b = 9; 

unsigned long time=0;


//int sensor[6] = { 0,0,0,0,0,0};

int average(int anaPin)
{
  long total = 0;
  long average = 0;
  int count = 0;
  int lecturas = 10;
  for(int i=0; i<lecturas; i++)
  {
    total = total + analogRead(anaPin);
  }

  average = total / lecturas;  
  return(average);

}

void avanza_m1(byte vel)
{
  //stop_m1();
  analogWrite(m1a, 0);
  analogWrite(m1b, vel);
}

void retrocede_m1(byte vel)
{
 //stop_m1();
 analogWrite(m1b, 0);
 analogWrite(m1a, vel); 
}

void stop_m1()
{
  analogWrite(m1a, 0);
  analogWrite(m1b, 0);
}

void avanza_m2(byte vel)
{
  //stop_m2();
  //delay(100);
  analogWrite(m2a, 0);
  analogWrite(m2b, vel);
}

void retrocede_m2(byte vel)
{
 //stop_m2();
 //delay(1000);
 analogWrite(m2b, 0);
 analogWrite(m2a, vel); 
}

void stop_m2()
{
  analogWrite(m2a, 0);
  analogWrite(m2b, 0);
}

void setup() {
  // initialize serial communications at 9600 bps:
  Serial.begin(9600); 
  delay(500);
  pinMode(fire, OUTPUT);
  pinMode(19, INPUT);
  digitalWrite(18, HIGH);
  pinMode(18, INPUT);
  digitalWrite(19, HIGH);
  digitalWrite(m1a, HIGH);
  digitalWrite(m1b, HIGH);
  digitalWrite(m2a, HIGH);
  digitalWrite(m2b, HIGH);
  digitalWrite(fire, LOW);
  Serial.println("RESET!!");
  time=millis();
}

void loop() {
  while (digitalRead(18)) retrocede_m2(60); 
  stop_m2();
  
  while ((average(0)>100)&&((millis()-time)<10000)) avanza_m1(100);  
  if (average(0)<=100) time=millis();
  if ((!digitalRead(19))&&(average(0)<=100))
  { 
    digitalWrite(fire, HIGH);
    delay(2000);
    avanza_m2(60);
    delay(6000);
    stop_m2();
    delay(4000);
    digitalWrite(fire, LOW);
    while (digitalRead(18)) retrocede_m2(60);
    stop_m2();
    time=millis();
  }
  else stop_m1();
}