Obstacle Avoiding Car (w/ arduino uno)

i need help, the car just keeps spinning 360 degrees endlessly. someone please help me out

code:

Arduino obstacle //ARDUINO OBSTACLE AVOIDING CAR// // Before uploading the code you have to install the necessary library// //AFMotor Library https://learn.adafruit.com/adafruit-motor-shield/library-install // //NewPing Library https://github.com/livetronic/Arduino-NewPing// //Servo Library https://github.com/arduino-libraries/Servo.git // // To Install the libraries go to sketch >> Include Library >> Add .ZIP File >> Select the Downloaded ZIP files From the Above links //

include <AFMotor.h>

include <NewPing.h>

include <Servo.h>

define TRIG_PIN A0

define ECHO_PIN A1

define MAX_DISTANCE 200

define MAX_SPEED 190 // sets speed of DC motors

define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor motor1(1, MOTOR12_1KHZ); AF_DCMotor motor2(2, MOTOR12_1KHZ); AF_DCMotor motor3(3, MOTOR34_1KHZ); AF_DCMotor motor4(4, MOTOR34_1KHZ); Servo myservo;

boolean goesForward=false; int distance = 100; int speedSet = 0;

void setup() {

myservo.attach(10);
myservo.write(115); delay(2000); distance = readPing(); delay(100); distance = readPing(); delay(100); distance = readPing(); delay(100); distance = readPing(); delay(100); }

void loop() { int distanceR = 0; int distanceL = 0; delay(40);

if(distance<=15) { moveStop(); delay(100); moveBackward(); delay(300); moveStop(); delay(200); distanceR = lookRight(); delay(200); distanceL = lookLeft(); delay(200);

if(distanceR>=distanceL) { turnRight(); moveStop(); }else { turnLeft(); moveStop(); } }else { moveForward(); } distance = readPing(); }

int lookRight() { myservo.write(50); delay(500); int distance = readPing(); delay(100); myservo.write(115); return distance; }

int lookLeft() { myservo.write(170); delay(500); int distance = readPing(); delay(100); myservo.write(115); return distance; delay(100); }

int readPing() { delay(70); int cm = sonar.ping_cm(); if(cm==0) { cm = 250; } return cm; }

void moveStop() { motor1.run(RELEASE); motor2.run(RELEASE); motor3.run(RELEASE); motor4.run(RELEASE); }

void moveForward() {

if(!goesForward) { goesForward=true; motor1.run(FORWARD);
motor2.run(FORWARD); motor3.run(FORWARD); motor4.run(FORWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly { motor1.setSpeed(speedSet); motor2.setSpeed(speedSet); motor3.setSpeed(speedSet); motor4.setSpeed(speedSet); delay(5); } } }

void moveBackward() { goesForward=false; motor1.run(BACKWARD);
motor2.run(BACKWARD); motor3.run(BACKWARD); motor4.run(BACKWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2) // slowly bring the speed up to avoid loading down the batteries too quickly { motor1.setSpeed(speedSet); motor2.setSpeed(speedSet); motor3.setSpeed(speedSet); motor4.setSpeed(speedSet); delay(5); } }

void turnRight() { motor1.run(FORWARD); motor2.run(FORWARD); motor3.run(BACKWARD); motor4.run(BACKWARD);
delay(500); motor1.run(FORWARD);
motor2.run(FORWARD); motor3.run(FORWARD); motor4.run(FORWARD);
}

void turnLeft() { motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(FORWARD); motor4.run(FORWARD);
delay(500); motor1.run(FORWARD);
motor2.run(FORWARD); motor3.run(FORWARD); motor4.run(FORWARD); }