robot 3 sensors and and drop

#include <popx2.h>  // POP-X2 Board
int speed = 55, del = 280;
float var = 0.96;
int s1, s2, s3;

void setup() {
  glcdMode(1);
  setTextSize(3);
  servo(1,120);
//  while(!(sw_ok()))
//  {
//    var = knob(95,120);
//    var = var/100;
//    glcdClear();
//    glcd(1,0,"%f",var);
//  }
//  delay(1);
//  while(!(sw_ok()))
//  {
//    speed = knob(45,60);
//    glcdClear();
//    glcd(1,0,"%d",speed);
//  }
  OK();
  glcdClear();
  delay(1000);
  RR();
  RR();
  RR();
  LL();
  track();
  drop();           //green
  BL();
  RR();
  RR();
  track();
  drop();           //blue
  bk2(speed*var,speed);
  delay(300);
  fd2(speed*var,-speed);
  delay(del*2);
  LL();
  fd2(speed*var,speed);
  delay(1500);
  fd2(speed*var,-speed);
  delay(del);
  RR();
  track();
  drop();           //red
  fd2(speed*var,-speed);
  delay(del*2-30);
  track();
  drop();           //yellow
  fd2(-speed*var*1.05,-speed);
  delay(750);
  fd2(-speed*var,speed);
  delay(del+20);
  RR();
  LL();
  LL();
  RR();
  track();
  fd2(-speed*var,-speed);
  delay(1000);
  fd2(speed*var,-speed);
  delay(del);
  fd2(speed*var,speed);
  delay(800);
  fd2(-speed*var,speed);
  delay(del);
  track();
  fd2(speed*var,speed);
  delay(400);
  RR();
  RR();
  LL();
  LL();
  LL();
  track();
  ao();
}

void track()
{
  while(true)
  {
    s1 = analogRead(0);
    s2 = analogRead(1);
    s3 = analogRead(2);
    if(s1 >= 512 && s2 >= 512)
    {
      fd2(65*0.99,65);
    }
    else if(s1 <= 512 && s2 >= 512)
    {
      fd2(speed*var,speed/3);
    }
    else if(s1 >= 512 && s2 <= 512)
    {
      fd2(speed*var/3,speed);
    }
    if(s3 < 440)
    {
      break;
    }
  }
  check();
}

void check()
{
  while(true)
  {
    s1 = analogRead(0);
    s2 = analogRead(1);
    s3 = analogRead(2);
    if(s1 >= 512 && s2 >= 512)
    {
      fd2(speed*var/2,speed/2);
    }
    else if(s1 >= 512 && s2 <= 512)
    {
      fd2(speed*var*2.18/2,speed/2.5);
    }
    else if(s1 <= 512 && s2 >= 512)
    {
      fd2(speed*var/2.5,speed*2.18/2);
    }
    else
    {
      break;
    }
  }
}

void RR()
{
  track();
  fd2(-speed*var,-speed);
  delay(150);
  fd2(speed*var,-speed);
  delay(del);
  ao();
  delay(200);
}

void BL()
{
  fd2(-speed*var*1.05,-speed);
  delay(800);
  fd2(-speed*var,speed);
  delay(del);
  delay(20);
  track();
  fd2(speed*var,speed);
  delay(400);
    s1 = analogRead(0);
    s2 = analogRead(1);
  while(true)
  {
    s1 = analogRead(0);
    s2 = analogRead(1);
    if(s1 <= 512 && s2 <= 512)
    {
      fd2(speed*var,speed);
    }
    else if(s1 <= 512 && s2 >= 512)
    {
      fd2(speed*var,-speed);
    }
    else if(s1 >= 512 && s2 <= 512)
    {
      fd2(-speed*var,speed);
    }
    else
    {
      break;
    }
  }
}

void LL()
{
  track();
  fd2(-speed*var,-speed);
  delay(150);
  fd2(-speed*var,speed);
  delay(del);
  ao();
  delay(200);
}

void drop()
{
fd2(-speed*var,-speed);
delay(400);
ao();
servo(1,0);
delay(600);
servo(1,150);
delay(800);
servo(1,120);
}

void loop() {
}