Arduino setup and initialization code

/*=================================*\
|Blinking LED,spinning motor project|
|        By Matthew Russell         |
\*=================================*/
int i = 0;                                             // startinterger i
int IR1 = 0;                                           // right sensor
int IR2 = 0;                                           // front sensor
int IR3 = 0;                                           // left sensor
int button = LOW;                                      // define interger "button"
int ledState = LOW;                                    // ledState used to set the LED current
long pMillis = 0;                                      // will store last time LED was updated
long blinkinterval = 250;                              // watchdog interval on
long interval = 1000;                                  // watchdog interval total
long mill0 = 0;                                        // time spent in idling loop
long mill1 = 0;                                        // time spent in driving loop
unsigned long cMillis = 0;                             // define current time

void setup(){                                          //       ::SETUP::
  pinMode(2,OUTPUT);                                   // motor 1 output :right:
  pinMode(3,OUTPUT);                                   // motor 2 output :left:
  pinMode(4,OUTPUT);                                   // LED output
  pinMode(5,INPUT);                                    // Switch input
  pinMode(6,INPUT);                                    // IR 1 input :right:
  pinMode(7,INPUT);                                    // IR 2 input :front:
  pinMode(8,INPUT);                                    // IR 3 input :left:
}
void loop(){                                           //       ::LOOP::
  button = digitalRead(5);                             // read pin5, write to interger "button"
  if(button == LOW){                                   //    Before button push, do:
    cMillis = millis();                                // read time (in millis) since startup (unsigned ensures positive int)
    if(cMillis - pMillis < blinkinterval){             // if change in time is less than defined blinkinterval, do:
      digitalWrite(4,HIGH);                            // turn on LED
    }
    else if(cMillis - pMillis < interval){             // if blinkinterval < change in time < interval, do:
      digitalWrite(4,LOW);                             // turn off LED
    }
    else{                                              // if change in time > interval, reset, and save time:
      pMillis = cMillis;                               // save the last LED current change
    }
  }
  else{                                                //    Otherwise, do:
    while(button == HIGH){                             // wait for button release
      digitalWrite(4,LOW);                             // keep LED off while button pressed
    }
    i = 0;                                             // reset interger i
    mill0 = millis();                                  // record time spent idled
    mill1 = millis() - mill0;                          // time spent in driving loop
    delay(1000);                                       // pause to let person get hand out of way
    while(mill1 < 60000){                              //   While: time on < 1 minute
      IR1 = digitalRead(6);                            // read all 3 IR sensors
      IR2 = digitalRead(7);                            // "
      IR3 = digitalRead(8);                            // "
      while(i = 0){                                    // * initialization code: run straight until wall is detected
        if(IR2 = 1){                                   // if: wall in front
          digitalWrite(2,LOW);                         // turn on both motors
          digitalWrite(3,LOW);                         // "
          delay(500);                                  // wait 1/2 second for motors to stop
          while(IR1 = 0){                              // while: wall is not detected by right IR, do:
            digitalWrite(2,HIGH);                      // Turn Left
          }
          i++;                                         // end initialization
        }
        else if(IR1 = 1){                              // if: wall detected to side:
          i++;                                         // end initialization
        }
        else if(IR3 = 1){                              // if: wall detected to side:
          i++;                                         // end initialization
        }
        else{                                          // if: no wall
          digitalWrite(2,HIGH);                        // turn on both motors
          digitalWrite(3,HIGH);                        // "
          delay(10);                                   // wait 1/100 second
        }
      }                                                // * Initialization code: end

      //robot avoidance code here//

      delay(100);                                      // let motors run for 1/10 second
    mill1 = millis() - mill0;                          // time spent in driving loop
    }
  }
}