#include <IRremote.h>

Rspeedd = getDistance(degreesRight, 'R'); // detection distance on right side
delay(delay_time); // waiting for servo motor to be stable

// if left distance greater than right
if (Lspeedd > Rspeedd) {
  directionn = Lgo; // go left
}

if (Lspeedd <= Rspeedd) {//if left distance less than right
  directionn = Rgo; //go right
}

if (Lspeedd < 15 && Rspeedd < 15) { //if distance less 10mm both right and left
  directionn = Bgo; //go back
}

if (SM == HIGH) {//middle sensor in black area
  if (SL == LOW & SR == HIGH) {//left sensor in black area, right sensor in white, turn left
    left(0);
  }
  else if (SR == LOW & SL == HIGH) {//left white, right black, run right
    right(0);
  }
  else { // left and right both in white, go straight
    advance(0);
  }
}
// middle sensor in white area
else {
  if (SL == LOW & SR == HIGH) { // left black ,right white, turn left
    left(0);
    }
  else if (SR == LOW & SL == HIGH) {
    right(0);
  }
  else {  //left and right both in white, stop
    stopp(0);
  }
}
stopPressed = stopCommandPressed();
if (stopPressed) {
  break;
}