SUMO

#include <atx.h>
#define BLACK 300
#define LEFT_SENSOR 3
#define RIGHT_SENSOR 2
#define LFM 0
#define LBM 1
#define RFM 2
#define RBM 3
void setup()
{
  sw1_press();
}
void loop()
{
  int left = analogRead (LEFT_SENSOR);
  int right = analogRead (RIGHT_SENSOR);
  if(left < BLACK && right < BLACK)
  {
    go_backward(20,100);
    turn_right(100,100);
  }
  else if (left < BLACK)
  {
    spin_left(100);
  }
  else if (right < BLACK)
  {
    spin_right(100);
  }
  else
  {
    motor_forward(100);
  }
}
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 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);
}
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_backward(int power)
{
    motor(LFM,-power);
    motor(LBM,-power);
    motor(RFM,-power);
    motor(RBM,-power);
}