IPST-SE Multi Cross Line tracking

#include <ipst.h>
int L,R,ref=400 ;
void setup(){OK();}
void loop(){  LLL();RRR();RRR();LLL(); }
void RRR(){
 while(1){
      L=analog(0); R=analog(1);
       if(L>ref&&R>ref){fd(41);}
       else if(L<ref&&R>ref){sl(35);}
       else if(L>ref&&R<ref){sr(35);}
       else if(L<ref&&R<ref){
         fd(40);sound(16,500,100);
         while(analog(1)>ref){sr(30);}
         while(analog(1)<ref){sr(30);} break ;
       }   }  }
void LLL(){
 while(1){
      L=analog(0); R=analog(1);
       if(L>ref&&R>ref){fd(41);}
       else if(L<ref&&R>ref){sl(35);}
       else if(L>ref&&R<ref){sr(35);}
       else if(L<ref&&R<ref){
         fd(40);sound(16,500,100);
         while(analog(0)>ref){sl(30);}
         while(analog(0)<ref){sl(30);} break ;
       }
   }
}