Arduino Obstacle Avoiding Talking Car

#include "SoftwareSerial.h"
#include "DFRobotDFPlayerMini.h"

// Use pins 2 and 3 to communicate with DFPlayer Mini
static const uint8_t PIN_MP3_TX = 2; // Connects to module's RX 
static const uint8_t PIN_MP3_RX = 3; // Connects to module's TX 
SoftwareSerial softwareSerial(PIN_MP3_RX, PIN_MP3_TX);

// Create the Player object
DFRobotDFPlayerMini player;
/* define L298N or L293D motor control pins */
int In1 = A0;   /* GPIO15(D8) -> IN1  */
int In2 = A1;  /* GPIO13(D7) -> IN2  */
int In3 = A2;     /* GPIO2(D4) -> IN3   */
int In4 = A3;    /* GPIO0(D3) -> IN4   */


int obstaclePin = A5;
int hasObstacle = HIGH;

void setup()
{
  
  pinMode(obstaclePin, INPUT);
  /* initialize motor control pins as output */
  pinMode(In3, OUTPUT);
  pinMode(In1, OUTPUT); 
  pinMode(In4, OUTPUT);  
  pinMode(In2, OUTPUT);

 // Init USB serial port for debugging
  Serial.begin(9600);
  // Init serial port for DFPlayer Mini
  softwareSerial.begin(9600);

  // Start communication with DFPlayer Mini
  if (player.begin(softwareSerial)) {
   Serial.println("OK");

    // Set volume to maximum (0 to 30).
    player.volume(30);
    // Play the first MP3 file on the SD card
    //player.play(1);
  } else {
    Serial.println("Connecting to DFPlayer Mini failed!");
  }

}
void loop()
{
   hasObstacle = digitalRead(obstaclePin);
  if (hasObstacle == LOW)
  {
   
    MotorStop();
    player.play(1);
    delay(4000);
    MotorBackward();
    delay(300);
    MotorStop();
    delay(300);
    player.play(1);
    delay(3000);
    TurnLeft();
    delay(400);
  }
  else
  {
    
    MotorForward();
  }
  delay(200);
}

void MotorForward(void)   
{
  
  digitalWrite(In3,HIGH);
  digitalWrite(In1,HIGH);
  digitalWrite(In4,LOW);
  digitalWrite(In2,LOW);
}

/********************************************* BACKWARD *****************************************************/
void MotorBackward(void)   
{
 
  digitalWrite(In4,HIGH);
  digitalWrite(In2,HIGH);
  digitalWrite(In3,LOW);
  digitalWrite(In1,LOW);
}

/********************************************* TURN LEFT *****************************************************/
void TurnLeft(void)   
{
  
  digitalWrite(In3,LOW);
  digitalWrite(In1,HIGH);
  digitalWrite(In2,LOW);
  digitalWrite(In4,HIGH);  
}

/********************************************* TURN RIGHT *****************************************************/
void TurnRight(void)   
{
 
  digitalWrite(In3,HIGH);
  digitalWrite(In1,LOW);
  digitalWrite(In2,HIGH);
  digitalWrite(In4,LOW);
}

/********************************************* STOP *****************************************************/
void MotorStop(void)   
{
  
  digitalWrite(In3,LOW);
  digitalWrite(In4,LOW);
  digitalWrite(In1,LOW);
  digitalWrite(In2,LOW);
}