Fischertechnik-Förderbänder per Controllino ansteuern (Seite 3)

#include <Controllino.h>
#define B0 CONTROLLINO_A0
#define B1 CONTROLLINO_A1
#define B2 CONTROLLINO_A2
#define B3 CONTROLLINO_A3
#define B4 CONTROLLINO_A4
#define B5 CONTROLLINO_A5
#define B6 CONTROLLINO_A6
#define M1 CONTROLLINO_R1
#define M2 CONTROLLINO_R2
#define M3 CONTROLLINO_R3
#define ROBOTER1 CONTROLLINO_R4
#define ROBOTER2 CONTROLLINO_R5
bool b0,b1,b2,b3,b4,b5,b6;
bool b0_previous,b2_previous,b5_previous,b6_previous;
bool metal,roboter;
long b0_timer,b2_timer,b4_timer,b6_timer;
void setup() {
  pinMode(B0,INPUT);
  pinMode(B1,INPUT);
  pinMode(B2,INPUT);
  pinMode(B3,INPUT);
  pinMode(B4,INPUT);
  pinMode(B5,INPUT);
  pinMode(B6,INPUT);
  pinMode(M1,OUTPUT);
  pinMode(M2,OUTPUT);
  pinMode(M3,OUTPUT);
  pinMode(ROBOTER1,OUTPUT);
  pinMode(ROBOTER2,OUTPUT);
}
void loop() {
  b0 = analogRead(B0)<150?HIGH:LOW;
  b1 = analogRead(B1)<150?HIGH:LOW;
  b2 = analogRead(B2)<150?HIGH:LOW;
  b3 = analogRead(B3)<150?HIGH:LOW;
  b4 = analogRead(B4)<150?HIGH:LOW;
  b5 = analogRead(B5)>300?HIGH:LOW;
  b6 = analogRead(B6)<150?HIGH:LOW;
  if (b5&&!b5_previous){
    metal=HIGH;
  }
  if (b0&&!b0_previous){
    b0_timer=millis();
  }
  if ((b0_timer+5000 < millis())&&b0){
    digitalWrite(M1,HIGH);
  }
  if (b1){
    digitalWrite(M1,LOW);
  }
  if (b2&&!b2_previous){
    b2_timer=millis();
  }
  if ((b2_timer+5000 < millis())&&b2){
    digitalWrite(M2,HIGH);
  }
  if (b3){
    digitalWrite(M2,LOW);
  }
  if (b6&&!b6_previous){
    b6_timer=millis();
  }
  if ((b6_timer+5000 < millis())&&b6){
    digitalWrite(M3,HIGH);
  }
  if (b4){
    digitalWrite(M3,LOW);
    if (metal){
      digitalWrite(ROBOTER1,HIGH);
    } else{
      digitalWrite(ROBOTER2,HIGH);
    }
    b4_timer=millis();roboter=HIGH;
  }
  if ((b4_timer+5000<millis())&&roboter){
    digitalWrite(ROBOTER1,LOW);digitalWrite(ROBOTER2,LOW);metal=LOW;roboter=LOW;
  }
  b0_previous=b0;
  b2_previous=b2;
  b5_previous=b5;
  b6_previous=b6;
}