Line Follower

The above video shows how SajiloBot follows a black line using the help of the Infrared Sensor on the bottom of the robot. Below is the Arduino code to make the robot work in line following mode.

// Black Line Follower
int IR1=A0; // Right sensor
int IR2=A1; // Left Sensor
// motor one
int enA = 9; //Right motor
int MotorAip1=2;
int MotorAip2=3;
// motor two
int enB = 10; //Left motor
int MotorBip1=7;
int MotorBip2=8;
void setup(){
    // put your setup code here, to run once:
    pinMode(enA, OUTPUT);
    pinMode(enB, OUTPUT);
    pinMode(IR1,INPUT);
    pinMode(IR2,INPUT);
    pinMode(MotorAip1,OUTPUT);
    pinMode(MotorAip2,OUTPUT);
    pinMode(MotorBip1,OUTPUT);
    pinMode(MotorBip2,OUTPUT);
}
void loop(){
    if(digitalRead(IR1)==HIGH && digitalRead(IR2)==HIGH) //IR will not glow on black line
    {
       //Stop both Motors
       digitalWrite(MotorAip1,LOW);
       digitalWrite(MotorAip2,LOW);
       digitalWrite(MotorBip1,LOW);
       digitalWrite(MotorBip2,LOW);
       analogWrite (enA, 0);
       analogWrite (enB, 0);
    }
    //IR not on black line
    else if(digitalRead(IR1)==LOW && digitalRead(IR2)==LOW) {
       //Move both the Motors
       digitalWrite(MotorAip1,HIGH);
       digitalWrite(MotorAip2,LOW);
       digitalWrite(MotorBip1,HIGH);
       digitalWrite(MotorBip2,LOW);
       analogWrite (enA, 200);
       analogWrite (enB, 200);
    }
    //Tilt robot towards left by stopping the left wheel and moving the right one
    else if(digitalRead(IR1)==LOW && digitalRead(IR2)==HIGH) {
       digitalWrite(MotorAip1,HIGH);
       digitalWrite(MotorAip2,LOW);
       digitalWrite(MotorBip1,LOW);
       digitalWrite(MotorBip2,HIGH);
       analogWrite (enA, 200);
       analogWrite (enB, 0);
       delay(100);
    }
    //Tilt robot towards right by stopping the right wheel and moving the left one
    else if(digitalRead(IR1)==HIGH && digitalRead(IR2)==LOW) {
       digitalWrite(MotorAip1,LOW); // If I want to turn right then the speed of the right  wheel should be
       // less than that of the left wheel, here, let a be the right wheel
       digitalWrite(MotorAip2,HIGH);
       digitalWrite(MotorBip1,HIGH);
       digitalWrite(MotorBip2,LOW);
       analogWrite (enA, 0);
       analogWrite (enB, 200);
       delay(100);
    }
    else {
       //Stop both the motors
       digitalWrite(MotorAip1,LOW);
       digitalWrite(MotorAip2,LOW);
       digitalWrite(MotorBip1,LOW);
       digitalWrite(MotorBip2,LOW);
       analogWrite (enA, 0);
       analogWrite (enB, 0);
    }
}