Rectangle pattern using arduino Mega - arduino

Question

I am using an Arduino Mega to implement a Rectangle pattern movement of a device which mean the length and breadth should decrease each time it reaches the end edges. I have written the code but it is not working
//servo header
#include <Servo.h>
#include <Math.h>
Servo myservo;//servo Object
//motor pin config
int m1r = 9;
int m1f = 10;
int m2f = 12;
int m2r = 11;
//infrared counter
int ir1val=0;//pulse count from irval
int ir2val=0;//pulse count from irval
int len=1;
int bred=2;
//Different sensors used
int temp;
int buzz = 8;
const float radpulse = 0.05;//1 pulse = 0.05 meter
double pulsecount1;//pulse counter;
double pulsecount2;//pulse counter;
int pc1;//integer
int pc2;
void setup() {
// initialize the Motor pin as an output:
pinMode(m1f, OUTPUT);
pinMode(m1r, OUTPUT);
pinMode(m2f, OUTPUT);
pinMode(m2r, OUTPUT);
pinMode(buzz,OUTPUT);
myservo.attach(A0);//BLDC motor attachment
Serial.begin(9600);// standard serial bandwidth of all modules
}
void loop()
{
pulsecount1=len/radpulse;
pc1=(int)round(pulsecount1);
pulsecount2=bred/radpulse;
pc2=(int)round(pulsecount2);
pc1=3;
pc2=2;
myservo.write(30);
delay(5000);
labelL1:
if((pc2 == 0)&&(pc1 == 0))
{
goto Stop;
}
while(pc1 > ir1val)
{
temp=((5.0*analogRead(A3)*100)/1024);
if(temp >60)
{
// goto hibernate;
}
/* if((analogread(A14) <= 300 || analogread(A14) >= 400) || (analogread(A15) <= 300) || analogread(A15) == 400))
{
goto Stop;
}*/
digitalWrite(m2f,HIGH);
digitalWrite(m1f,HIGH);
//digitalWrite(m2f,HIGH);
if(digitalRead(A2))
{
ir1val++;
}
}
if(pc1 == ir1val)
{
/*if((analogread(A14) <= 300 || analogread(A14) >= 400) || (analogread(A15) <= 300) || analogread(A15) == 400))
{
goto Stop;
}*/
pc1--;
ir1val=0;
digitalWrite(m1f, HIGH);
digitalWrite(m2f,LOW);
delay(5000);
goto labelB1;
}
labelB1:
while(pc2 != ir1val)
{
temp=((5.0*analogRead(A3)*100)/1024);
if(temp >60)
{
// goto label2;
}
/* if((analogread(A14) <= 300 || analogread(A14) >= 400) || (analogread(A15) <= 300) || analogread(A15) == 400))
{
goto Stop;
}*/
digitalWrite(m1f,HIGH);
digitalWrite(m2f,HIGH);
if(digitalRead(A2))
{
ir2val++;
}
}
if(pc2 == ir2val)
{
/* if((analogread(A14) <= 300 || analogread(A14) >= 400) || (analogread(A15) <= 300) || analogread(A15) == 400))
{
goto Stop;
}*/
pc2=pc2--;
ir2val=0;
digitalWrite(m1f, HIGH);
digitalWrite(m2f,LOW);
delay(5000);
goto labelL1;
}
Stop:
myservo.write(0);// stop servo
digitalWrite(m1f,LOW);// stop motor
digitalWrite(m2f,LOW);//stop motor
digitalWrite(buzz,HIGH);//Buzzer
delay(5000);
goto Stop;
/*
hibernate:
temp=((5.0*analogRead(A2)*100)/1024);
if(temp >40)
{
delay(1000);
goto hibernate;
}
*/}