Race #4(Version 2)

#include <atx.h>
#define BLACK 150
#define LEFT_SENSOR 2
#define RIGHT_SENSOR 3
int state = 1;
int ms;

void setup()
{
  lcd("pressSW1");
  sw1_press();
  beep();
}

void loop()
{
  int left = analogRead(LEFT_SENSOR);
  int right = analogRead(RIGHT_SENSOR);
  if(left < 200 && right < 200)
  {
    beep();
    switch(state)
    {
      case 1:
      {
        go_backward(50);
        delay(250);
        spin_left(100);
        delay(380);

        break;
      }
      case 2:
      {
        go_backward(50);
        delay(250);
        spin_right(100);
        delay(400);

        break;
      }
      case 3:
      {
        go_backward(50);
        delay(250);
        spin_right(100);
        delay(400);

        break;
      }
      case 4:
      {
        go_backward(50);
        delay(250);
        spin_right(100);
        delay(400);

        break;
      }

    default:
      {
        motor_stop(ALL);
        sw1_press();
      }
  }
    state = state + 1;
  }
  else if(left < 200)
  {
    spin_left(20);
  }
  else if(right < 200)
  {
    spin_right(20);
  }
  else
  {
    go_forward(100);
  }
}

void spin_left(int t_power)
{
  motor(0,t_power);
  motor(1,t_power);
  motor(2,-t_power);
  motor(3,-t_power);
}

void spin_right(int t_power)
{
  motor(0,-t_power);
  motor(1,-t_power);
  motor(2,t_power);
  motor(3,t_power);
}

void go_forward(int f_power)
{
  motor(0,f_power);
  motor(1,f_power);
  motor(2,f_power);
  motor(3,f_power);
}

void go_backward(int b_power)
{
  motor(0,-b_power);
  motor(1,-b_power);
  motor(2,-b_power);
  motor(3,-b_power);
}