g funziona per un pezzo

#pragma config(Sensor, S1,     gyroscope,      sensorEV3_Gyro)
#pragma config(Sensor, S2,     colorSensor,    sensorEV3_Color, modeEV3Color_Color)
#pragma config(Sensor, S3,     frontSensor,    sensorEV3_Ultrasonic)
#pragma config(Sensor, S4,     leftSensor,     sensorEV3_Ultrasonic)
#pragma config(Motor,  motorA,          leftMotor,     tmotorEV3_Large, PIDControl, driveLeft, encoder)
#pragma config(Motor,  motorB,          rightMotor,    tmotorEV3_Large, PIDControl, driveRight, encoder)
#pragma config(Motor,  motorC,          clawLifter,    tmotorEV3_Large, PIDControl, encoder)
#pragma config(Motor,  motorD,          claw,          tmotorEV3_Medium, PIDControl, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

//Il nero lo scarta, il rosso lo mette nella chest a DX e il blu a SX.

const int moveforwardVelocity=20;

const int claw_Velocity=50;
const int claw_PositionOpen=3*360;
const int claw_PositionClose=-2.5*360;

const int clawLifter_Velocity=-50;
const int clawLifter_PositionUp=360;
const int clawLifter_PositionDown=360;

const double Front_Object_distance = 10;
const int Left_Object_distance= 38;
const int Blue = 5;
const int Red = 3;
 bool compreso= false;
      bool mainore =false;
      bool maggiore =false;
int tragitto=1;
int oggettipresi=0;
int distans=0;
int contatore = 0;

void moveForward(double v){
    if(v>0){
        double n= v/20.4
        moveMotorTarget(motorA,n*360, 20);
        moveMotorTarget(motorB,n*360, 20);
        sleep(n*1000);
    }
    else if(v<0){
        double n= v/20.4
        moveMotorTarget(motorA,n*360, -20);
        moveMotorTarget(motorB,n*360, -20);
        sleep(n*1000);
    }
}

void movement (int V1, int V2 ){ // Funzione potenza hai motori;
    motor[motorA]=V1;
    motor[motorB]=V2;
    wait1Msec(1);
}

//Funzione che rileva la presenza di oggetti sulla sinistra confrontando la distanza con parametro passato alla funzione
bool objectDetectedLeft(double a){
    if(getUSDistance(leftSensor)<=a){
        return true ;
    }
    else return false;
}

//Funzione che rileva la presenza di oggetti  di fronte confrontando la distanza con parametro passato alla funzione
bool objectDetectedFront(double a){
    if(getUSDistance(frontSensor)<=a){
        return true ;
    }
    else return false;
}

void openClaw (){ //Funzione apri pinza
    moveMotorTarget(claw,claw_PositionOpen,claw_Velocity);
    sleep(500);
}

void closeClaw(){ //Funzione chiudi pinza
    moveMotorTarget(claw,claw_PositionClose,-claw_Velocity);
    sleep(500);
}

void liftClaw(){ //Alza braccio
    moveMotorTarget(clawLifter,clawLifter_PositionUp+10,clawLifter_Velocity);
    sleep(500);
}

void fallClaw(){ //Abbassa braccio
    moveMotorTarget(clawLifter,clawLifter_PositionDown-50,-clawLifter_Velocity);
    sleep(500);
}


void turn(int c, int gradi){
    resetGyro(gyroscope);
    switch(c){
        case 1:
        while(getGyroDegrees(gyroscope)<gradi){
        motor[motorA]=-10;
        motor[motorB]=10;
            wait1Msec(1);}
        break;
        case 2:     while(getGyroDegrees(gyroscope)>-gradi){
                motor[motorA]=10;
        motor[motorB]=-10;
            wait1Msec(1);
            }
            break;}
}



void initialize(){// Funzione di inizializazione
    liftClaw();
    openClaw();
    moveForward(40);
    turn('R',90);
    moveForward(30);

}

void liftObject(){ // Funzione prendi oggetto
    movement(0,0);
    fallClaw();
    delay(1000);
}

void releaseObject(){//Rilascia oggetto
    movement(0,0);
    fallClaw();
    openClaw();
    liftClaw();
}


task main(){
//closeClaw();
     liftClaw(); //alza pinza funziona
     openClaw(); // apre pinza funziona
     movement(-30,-30);
     wait1Msec(3000);
     movement(0,0);
     wait1Msec(500);
     movement(10,10);
     wait1Msec(4000);
     movement(0,0);
     wait1Msec(500);
     turn(2,90);
     movement(0,0);
     sleep(500);
     movement(-50,-50);
     sleep(2500);
     movement(0,0);
     sleep(500);
     movement(10,10);
     sleep(5500);
    //AVANTI FIN QUANDO NON RILEVA NULLA A SINISTRA
     while(!objectDetectedLeft(Left_Object_distance)){
        movement(20,20);
        sleep(500);
                movement(0,0);
        sleep(500);
        }
//  UNA VOLTA RILEVATO GIRA A SINISTRA
    moveForward(-6);
    sleep(1000);
    while(!objectDetectedFront(20)){movement(-10,10);delay(100);}

while(!objectDetectedFront(Front_Object_distance)){
        movement(10,10);
        sleep(500);
        movement(0,0);
        sleep(500);
    }
    //PRENDE L'OGGETTO
    liftObject();
//giusto

    if(getColorName(colorSensor)!= colorBlue && getColorName(colorSensor) != colorRed){
        movement(10,10);
        sleep(350);
        movement(0,0);
        sleep(500);
        closeClaw();
        sleep(1000);
        liftclaw();
        sleep (2000);
        movement(-20,-20);
        delay(4000);
        turn(2,90);
        movement(0,0);
        delay(500);

     while(!objectDetectedFront(5))
            {
                        movement(50,50);

            }
            openClaw();
            sleep(500);
            closeClaw();
            movement(-10,10);
            sleep(1000);

    }
    //funziona
}