Project 9 incomplete

#include <atx.h>
#define BLACK 300
#define CENTER_SENSOR 1
#define LEFT_SENSOR 2
#define RIGHT_SENSOR 3
#define LFM 0
#define LBM 1
#define RFM 2
#define RBM 3
void setup()
{
  sw1_press();
}
void loop()
{
  go_forward(100,500);
  turn_right(100,300);
  go_forward(100,250);
  timed_follow( 3000 );
  go_backward(100,050);
  turn_right(100,780);
  go_backward(100,800);
  turn_right(100,780);
  turn_left(100,300);
  timed_follow( 15000 );
}

void timed_follow( long int ms )
{
  long int start = millis();
  while( millis() - start<ms )
  {
    int left = analogRead( LEFT_SENSOR );
    int right = analogRead( RIGHT_SENSOR );
    if( left < BLACK )
    {
      spin_left(100);
    }
    else if( right < BLACK )
    {
      spin_right(100);
    }
    else
    {
      motor_forward(30);
    }
  }
}
void go_forward(int power,int ms)
{
    motor(LFM,power);
    motor(LBM,power);
    motor(RFM,power);
    motor(RBM,power);
    delay(ms);
    motor_stop(ALL);
}
void go_backward(int power,int ms)
{
    motor(LFM,-power);
    motor(LBM,-power);
    motor(RFM,-power);
    motor(RBM,-power);
    delay(ms);
    motor_stop(ALL);
}
void motor_forward(int power)
{
    motor(LFM,power);
    motor(LBM,power);
    motor(RFM,power);
    motor(RBM,power);
}
  void turn_right(int power,int ms)
{
    motor(LFM,power);
    motor(LBM,power);
    motor(RFM,-power);
    motor(RBM,-power);
    delay(ms);
    motor_stop(ALL);
}
  void turn_left(int power,int ms)
{
    motor(LFM,-power);
    motor(LBM,-power);
    motor(RFM,power);
    motor(RBM,power);
    delay(ms);
    motor_stop(ALL);
}
  void spin_right(int power)
{
    motor(LFM,power);
    motor(LBM,power);
    motor(RFM,-power);
    motor(RBM,-power);
}
  void spin_left(int power)
{
    motor(LFM,-power);
    motor(LBM,-power);
    motor(RFM,power);
    motor(RBM,power);
}