Krabi Garnchana ATX2

#include <ATX2.h>
int L,R,RefL=510,RefR=505;
void setup(){ OK();
sHome();FD(50);delay(2000);FFF();FFF();CAN();
LLL();RRR();RRR();FFF();LLL(); AO(); }
void loop(){}
void PUSH(){
  while(1){
    L=analog(5);
    R=analog(4);
    if(L<RefL&&R<RefR){
        BK(50);delay(200);AO();drop();
        AO();
        break;
    }
    else if(L>RefL&&R>RefR){FD(40);}
    else if(L<RefL&&R>RefR){SL(40);}
    else if(L>RefL&&R<RefR){SR(40);}
  }
}
void CAN(){
  while(1){
    L=analog(5);
    R=analog(4);
    if(L<RefL&&R<RefR){
        BK(50);delay(200);AO();keep();
        SR(50);delay(900);
        break;
    }
    else if(L>RefL&&R>RefR){FD(40);}
    else if(L<RefL&&R>RefR){SL(40);}
    else if(L>RefL&&R<RefR){SR(40);}
  }
}
void sHome(){
    servo(2,64); delay(300);
    servo(1,33); delay(300);
}
void keep(){
    servo(2,160); delay(300);
    servo(1,156); delay(300);
    servo(2,64); delay(300);
}
void drop(){
    servo(2,160); delay(300);
    servo(1,33); delay(300);
    servo(2,64); delay(300);
}
void FFF(){
  while(1){
    L=analog(5);
    R=analog(4);
    if(L<RefL&&R<RefR){
        FD(50);sound(500,150);
        break;
    }
    else if(L>RefL&&R>RefR){FD(40);}
    else if(L<RefL&&R>RefR){SL(40);}
    else if(L>RefL&&R<RefR){SR(40);}
  }
}
void RRR(){
  while(1){
    L=analog(5);
    R=analog(4);
    if(L<RefL&&R<RefR){
        R90();
        break;
    }
    else if(L>RefL&&R>RefR){FD(40);}
    else if(L<RefL&&R>RefR){SL(40);}
    else if(L>RefL&&R<RefR){SR(40);}
  }
}
void LLL(){
  while(1){
    L=analog(5);
    R=analog(4);
    if(L<RefL&&R<RefR){
        L90();
        break;
    }
    else if(L>RefL&&R>RefR){FD(40);}
    else if(L<RefL&&R>RefR){SL(40);}
    else if(L>RefL&&R<RefR){SR(40);}
  }
}
void R90(){
  FD(40);sound(500,100);
  while(analog(4)>RefR){SR(60);}
  while(analog(4)<RefR){SR(60);}
}
void L90(){
  FD(40);sound(500,100);
  while(analog(5)>RefL){SL(60);}
  while(analog(5)<RefL){SL(60);}
}





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