状态变化检测然后循环

Question

我想在计数器达到e，g num = 3（HIGH）之后停止直流电机，如下图所示：

白线厚3厘米，黑框30厘米平方！

两个红外传感器，int rightSens=30;并且int leftSens=32;正在工作并且在感应黑色表面时给出1，在任何其他表面上给出0，即白色且没有任何东西。

我希望机器人能像我的循环一样计算，3个LOW计数白色或2个HIGH计数黑色，然后做一些事情，例如停止，如while循环所示。

有些东西肯定是错的，似乎没有计算，因为它在通过3个盒子或3个白线后没有停止。任何帮助非常感谢！

int pwm=2;     //initializing pin 2 as pwm
int leftMotorin_1=22;//right
int leftMotorin_2=24;
int pwm2=3;     
int rightMotorin_3=26;
int rightMotorin_4=28;

//sensor
int rightSens=30;
int leftSens=32;
int rightSensState;
int leftSensState;

//Variables for counting lines
int previousState=0;
int currentState=0;

void setup ()
{
  pinMode(pwm,OUTPUT);  // set pwm pin as output
  pinMode(leftMotorin_1,OUTPUT); //logic pins are also set as output
  pinMode(leftMotorin_2,OUTPUT);
  pinMode(pwm2,OUTPUT);  // set pwm pin as output
  pinMode(rightMotorin_3,OUTPUT); //logic pins are also set as output
  pinMode(rightMotorin_4,OUTPUT);

  //pinMode(obSens,INPUT);
  pinMode(rightSens,INPUT);
  pinMode(leftSens,INPUT);
}
void readSensors()
{
  rightSensState = digitalRead(rightSens);
  leftSensState = digitalRead(leftSens);
}
void moveForward()
{
  digitalWrite(leftMotorin_1,HIGH);
  digitalWrite(leftMotorin_2,LOW);
  analogWrite(pwm,150);
  digitalWrite(rightMotorin_3,HIGH);
  digitalWrite(rightMotorin_4,LOW);
  analogWrite(pwm2,150);
}
void stopWheels()
{
  //For brake
  digitalWrite(leftMotorin_1,LOW);
  digitalWrite(leftMotorin_2,LOW);
  digitalWrite(rightMotorin_3,LOW);
  digitalWrite(rightMotorin_4,LOW);
}
void loop()
{
  int count=0;
  int num=3;
  moveForward(); 
  readSensors();
  (currentState=(leftSensState && rightSensState));
  if (currentState != previousState );
  {
    if (currentState==HIGH)
      count++;
    previousState=currentState;
  }

  while (count!=num) { 
    moveForward(); 
    readSensors();
    (currentState=(leftSensState && rightSensState));
    if (currentState != previousState );
    {
      if (currentState==HIGH)
        count+=1;
      previousState=currentState;
    }
    if (counter == num)
    {
      stopWheels();
      delay(20);
      break;
    }  
  }                                                                                                             
}