Lab 5 code

#include <RedBot.h> //includes the redbot library
RedBotMotors motors;// Instantiate the motor control object.
RedBotEncoder encoder = RedBotEncoder(A3, 10);  // Initialize encoders

//1 wheel turn goes 20.42 centimeters
//one meter is 4.897 turns
//one wheel turn is 48 motor turns
//one meter is 235 motor turns
//one meter is 940 encoder ticks
//one 90* turn is 66 motor turns.


int lCount=0;
int rCount=0;
int n = 0;
bool amIStraight = true;
void setup(){
  Serial.begin(9600);
  Serial.println("left    right");
  Serial.println("================");
encoder.clearEnc(BOTH);
}


void loop() {

    lCount = encoder.getTicks(LEFT);    // read the left motor encoder
    rCount = encoder.getTicks(RIGHT);
    Serial.print(lCount);
    Serial.print("  ");
    Serial.print("\t");
    Serial.println(rCount);

while(amIStraight==true){
      lCount = encoder.getTicks(LEFT);    // read the left motor encoder
    rCount = encoder.getTicks(RIGHT);
        Serial.print(lCount);
    Serial.print("  ");
    Serial.print("\t");
    Serial.println(rCount);
motors.leftMotor(-60);
motors.rightMotor(56);
if(lCount > rCount + 10){
  motors.leftMotor(-57);
  motors.rightMotor(56);
}
if(lCount + 10 < rCount) {
  motors.rightMotor(54);
  motors.leftMotor(-60);
}
if((lCount + 10 > rCount) && (lCount < rCount + 10)){
motors.leftMotor(-60);
motors.rightMotor(57);
}
if(lCount > 940 && rCount > 940){
amIStraight = false;
motors.stop();
encoder.clearEnc(BOTH);
}
}
//This is where I come to cry. GO ON HOUR 5 BABY!
delay(500);
while(amIStraight == false){
      lCount = encoder.getTicks(LEFT);    // read the left motor encoder
    rCount = encoder.getTicks(RIGHT);
        Serial.print(lCount);
    Serial.print("  ");
    Serial.print("\t");
    Serial.println(rCount);
  motors.leftMotor(-60);
  motors.rightMotor(0);

  if(lCount > 204){
    motors.stop();
  amIStraight = true;
  encoder.clearEnc(BOTH);
}

delay(500);
}}