robocar drive

int fwdPin1 = 4;
int revPin1 = 1;
int fwdPin2 = 2;
int revPin2 = 3;
int ledPin = 9;
int sensorPin1 = 0;
int sensorPin2 = 1;
int sensorPin3 = 2;
int lightLevel1, lightLevel2, lightLevel3;
int white = 0, black = 0;

void setup() {
  // put your setup code here, to run once:
  pinMode(fwdPin1, OUTPUT);
  pinMode(revPin1, OUTPUT);
  pinMode(fwdPin2, OUTPUT);
  pinMode(revPin2, OUTPUT);
  pinMode(ledPin, OUTPUT);
  analogWrite(ledPin, 255);
  delay(5000);
  white = (analogRead(sensorPin1) + analogRead(sensorPin3)) / 2;
  black = analogRead(sensorPin2);
}

void loop() {
  // put your main code here, to run repeatedly:
  int rightCount = 0, leftCount = 0;
  lightLevel1 = analogRead(sensorPin1); // left photoresistor
  lightLevel2 = analogRead(sensorPin2); // middle photoresistor
  lightLevel3 = analogRead(sensorPin3); // right photoresistor
  if (lightLevel2 <= black + 5) {
    forward(125);
  }
  else {
    boolean found = false;
    boolean goLeft = false;

    while (found == false) {

      if (lightLevel2 <= black + 30) {
        if (goLeft == true) {
          forward(250);
        }
        found = true;
        break;
      }
      if (rightCount < 20 && goLeft == false) {
        right(85);
        rightCount++;
      }
      if (rightCount == 20 && goLeft == false) {
        left(600);
        goLeft = true;
      }
      if (goLeft == true) {
        left(85);
      }
    }
  }
}

void forward(int ms) {
  digitalWrite(fwdPin1, HIGH);
  digitalWrite(fwdPin2, HIGH);
  delay(ms); // time to run
  digitalWrite(fwdPin1, LOW);
  digitalWrite(fwdPin2, LOW);
  delay(200);
}

void right(int ms) {
  digitalWrite(fwdPin1, HIGH);
  digitalWrite(revPin2, HIGH);
  delay(ms); // time to run
  digitalWrite(fwdPin1, LOW);
  digitalWrite(revPin2, LOW);
  lightLevel2 = analogRead(sensorPin2);
  delay(125);

}

void left(int ms) {
  digitalWrite(fwdPin2, HIGH);
  digitalWrite(revPin1, HIGH);
  delay(ms);
  digitalWrite(fwdPin2, LOW);
  digitalWrite(revPin1, LOW);
  lightLevel2 = analogRead(sensorPin2);
  delay(125);

}