int analogPin0 = 0; // potentiometer wiper (middle terminal) connected to analog pin 1 int analogPin1 = 1; int analogPin2=2; int analogPin3=3; int analogPin4=4; int analogPin5=5; int left = 0; int center = 0; int right = 0; void setup() { Serial.begin(9600); // setup serial } void loop() { left = analogRead(analogPin0)-analogRead(analogPin1); Serial.print(left); // debug value Serial.print(","); center = analogRead(analogPin2) - analogRead(analogPin3); // read the input pin Serial.print(center); // debug value Serial.print(","); right = analogRead(analogPin4) - analogRead(analogPin5); // read the input pin Serial.print(right); // debug value Serial.print(","); if ((abs(left) < 250) && (abs(right) < 250) && (abs(center) < 250)) { Serial.println("No Beacon"); } else if (abs(left) > abs(center) && abs(left) > abs(right)) { Serial.println("Left"); } else if (abs(right) > abs(center) && abs(right) > abs(left)) { Serial.println("Right"); } else if (abs(center) > abs(left) && abs(center) > abs(right)) { Serial.println("Center"); } }