Solar Tracker 35W with DC Motors

/* Solar Tracker Code with 4 buttons for manual orientation and
  4 ldr sensors to automaticaly traking the sun.

*/
//set constant pin numbers
int wbuttonPin = 4;
int ebuttonPin = 2;
int tbuttonPin = 8;
int bbuttonPin = 12;
int switch1Pin = 7;
int switch2Pin = 5;
int eldr = A0;
int wldr = A1;
int tldr = A2;
int bldr = A3;
int IN1 = 13;
int IN2 = 9;
int IN3 = 10;
int IN4 = 11;
int eastldr = 0;
int westldr = 0;
int topldr = 0;
int botldr = 0;
int error = 0;
int poserror = 0;
int tberror = 0;
int tbposerror = 0;
int westbutton = 0;
int eastbutton = 0;
int topbutton = 0;
int botbutton = 0;
int onoffswitch = 0;
int singledualswitch = 0;
void setup() {
  pinMode (A0, INPUT);
  pinMode (A1, INPUT);
  pinMode (A3, INPUT);
  pinMode (A4, INPUT);
  pinMode (8, INPUT_PULLUP);
  pinMode (12, INPUT_PULLUP);
  pinMode (13, OUTPUT);
  pinMode (9, OUTPUT);
  pinMode (10, OUTPUT);
  pinMode (11, OUTPUT);
  pinMode (4, INPUT_PULLUP);
  pinMode (2, INPUT_PULLUP);
  pinMode (5, INPUT_PULLUP);
  pinMode (7, INPUT_PULLUP);
  Serial.begin(9600);
}

void loop() {Serial.print("start programm");
  digitalWrite(IN1, LOW);
  digitalWrite(IN2, LOW);
  digitalWrite(IN3, LOW);
  digitalWrite(IN4, LOW);
  onoffswitch = digitalRead(switch1Pin);
  singledualswitch = digitalRead(switch2Pin);
  while  (onoffswitch == LOW  ) {
    //manual rotating of the panel

    eastldr = analogRead(A0);
          westldr = analogRead(A1);
          topldr = analogRead(A2);
         botldr = analogRead(A3);
    
    eastbutton = digitalRead(ebuttonPin);
                 if (eastbutton == HIGH)
  { digitalWrite(IN1, HIGH);
    digitalWrite(IN2, LOW);
    } // rotate to east side when you push the right button
    else {
      digitalWrite(IN1, LOW);
    }
    westbutton = digitalRead(wbuttonPin);
                 if (westbutton == HIGH)
  { digitalWrite(IN2, HIGH);
    } //rotate to west side when you push the left button
    else {
      digitalWrite(IN2, LOW);
    }
    topbutton = digitalRead(tbuttonPin);
                if (topbutton == HIGH)
  { digitalWrite(IN4, HIGH);
    } //rotate to west side when you push the left button
    else {
      digitalWrite(IN4, LOW);
    }
    
    botbutton = digitalRead(bbuttonPin);
              if (botbutton == HIGH)
{ digitalWrite(IN3, HIGH);
  } //rotate to west side when you push the left button
  else {
    digitalWrite(IN3, LOW);
  } onoffswitch = digitalRead(switch1Pin);
    singledualswitch = digitalRead(switch2Pin);
    Serial.println(eastldr);
Serial.println(westldr);
Serial.println(topldr);
Serial.println(botldr);
}
   
//automaticaly rotating of the panel
//check east-west orientation first


                                      /* if (eastldr < 400 && westldr < 400)
                                         {digitalWrite(IN1,HIGH)
                                         delay(7500)
                                         digitalWrite(IN1,LOW)}*/
onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);
while  (onoffswitch == HIGH && singledualswitch == LOW ){
  eastldr = analogRead(A0);
          westldr = analogRead(A1);
          topldr = analogRead(A2);
         botldr = analogRead(A3);
                    error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
                            poserror = abs(error);
                                     if (poserror > 10){
 if (error > 0) {
   digitalWrite(IN2, HIGH);

//  Serial.print("IN2 HIGH");
  }
  else if (error < 0)    {
   digitalWrite(IN1, HIGH);
//Serial.print("IN1 HIGH");
  }}
  else if (poserror <= 10 )  {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
//Serial.print("LOW BOTH");
    }

Serial.println(eastldr);
Serial.println(westldr);
Serial.println(topldr);
Serial.println(botldr);

onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);}

onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);



  while  (onoffswitch == HIGH & singledualswitch == HIGH ){
         topldr = analogRead(A2);
         botldr = analogRead(A3);
         eastldr = analogRead(A0);
         westldr = analogRead(A1);
                 
                  
                  tberror = (((topldr+westldr)/2) - ((botldr+eastldr)/2));
                            tbposerror = abs(tberror);
    
 
                   error = (((eastldr+topldr)/2) - ((westldr+botldr)/2));
                            poserror = abs(error);
                                     if (poserror > 10){
 if (error > 0) {
   digitalWrite(IN2, HIGH);

//  Serial.print("IN2 HIGH");
  }
  else if (error < 0)    {
   digitalWrite(IN1, HIGH);

//Serial.print("IN1 HIGH");
  }}
  else if (poserror <= 10 )  {
    digitalWrite(IN1, LOW);
    digitalWrite(IN2, LOW);
    }

Serial.println(eastldr);
Serial.println(westldr);
   if (tbposerror > 10)
{ if (tberror > 0) {
    digitalWrite(IN4, HIGH);

}    else if (tberror < 0)    {
      digitalWrite(IN3, HIGH);

    }
  }
  else if (poserror <= 10 )  {
    digitalWrite(IN4, LOW);
    digitalWrite(IN3, LOW);
  }
  onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);}
onoffswitch = digitalRead(switch1Pin);
singledualswitch = digitalRead(switch2Pin);
  delay(200);

}