#define LEFT_LIMIT 100
#define RIGHT_LIMIT 100
#define ENGINE_SPEED 500

EndlessRotateMode_Start(MODULE_ENGINE1, -ENGINE_SPEED);
EndlessRotateMode_Start(MODULE_ENGINE2, ENGINE_SPEED);
EndlessRotateMode_Start(MODULE_ENGINE3, -ENGINE_SPEED);
EndlessRotateMode_Start(MODULE_ENGINE4, ENGINE_SPEED);

while(1)
{
    if(getIR(MODULE_SENSORS, &leftSensor, &centerSensor, &rightSensor))
    {
        if(leftSensor > LEFT_LIMIT)
        {
            EndlessRotateMode_Stop(MODULE_ENGINE1);
            EndlessRotateMode_Stop(MODULE_ENGINE3);
        }
        else if(rightSensor > RIGHT_LIMIT)
        {
            EndlessRotateMode_Stop(MODULE_ENGINE2);
            EndlessRotateMode_Stop(MODULE_ENGINE4);
        }
        else
        {
            EndlessRotateMode_Start(MODULE_ENGINE1, -ENGINE_SPEED);
            EndlessRotateMode_Start(MODULE_ENGINE2, ENGINE_SPEED);
            EndlessRotateMode_Start(MODULE_ENGINE3, -ENGINE_SPEED);
            EndlessRotateMode_Start(MODULE_ENGINE4, ENGINE_SPEED);
        }
    }
}