Ouch! Won't this have the potential to be a dead short if both sensors detect a reflective media at the same time thus energizing both the forward and reverse relays at the same time? I think some code is needed to prevent that scenario. Also, relays are mechanical and are not instantaneous. One relay will be slower than the other to operate; therefore one may still have it's contacts closed (although the coil is no longer energized) when the other relay closes it's contacts , i.e., same same dead short scenario. Some delay is needed to ensure the previously energized relay has opened it's contacts before energizing the other relay.
- Scotty