#define IR_SENSOR_RIGHT 11 #define IR_SENSOR_LEFT 12 #define MOTOR_SPEED 180 //Right motor int enableRightMotor=6; int rightMotorPin1=7; int rightMotorPin2=8; //Left motor int enableLeftMotor=5; int leftMotorPin1=9; int leftMotorPin2=10; void setup() { //The problem with TT gear motors is that, at very low pwm value it does not even rotate. //If we increase the PWM value then it rotates faster and our robot is not controlled in that speed and goes out of line. //For that we need to increase the frequency of analogWrite. //Below line is important to change the frequency of PWM signal on pin D5 and D6 //Because of this, motor runs in controlled manner (lower speed) at high PWM value. //This sets frequecny as 7812.5 hz. TCCR0B = TCCR0B & B11111000 | B00000010 ; // put your setup code here, to run once: pinMode(enableRightMotor, OUTPUT); pinMode(rightMotorPin1, OUTPUT); pinMode(rightMotorPin...