Please write code for an obstacle avoiding robot and line follower that uses Arduino uno $,,$ components l$298$n motor driver, ultrasonic sensors and servo motor to turn the ultra sonic to see left and right in case detected an obstacle while it was moving in the black line and stops if it get out the black line and it shall avoid the obstacle and get back to the black line $,$ and two IR sensors detect the black line $.($i wrote a code but the ir sensor dont detect the black line properly and it dont detect the obstacle also when it see obstacle it should xheck let and right which way is empty take it and avoid the obstacle and get back to the black line again $.$

int enA $=10$;

int in$1=9$;

int in$2=8$;int enB $=5$;int in$3=7$;

Int in$4=6$;#define L$\_$S A$0//$ir sensor Left

#define R$\_$S A$1//$ir sensor Right

#define echo $3//$Echo pin

#define trigger $2//$Trigger pin#define servo $11$