Arduino IR Sensors Not Calling Functions - arduino

Question

With this code written in the Arduino IDE I used to be able to call functions based on which Infrared sensor detected an object(right, left, or both). I altered the code a little bit lately but I've continued to make sure it wasn't missing any key components which made it work in the first place. I'm not sure if it's an error in my program or hardware but now, no matter what sensor detects an object, my robot just turns slightly to the left.
//Include Servo Library
#include <Servo.h>
//Define Pins for the Sensors and LEDs
#define LsensorPin 8
#define RsensorPin 5
#define LeftTransPin 7
#define RightTransPin 6
I'm using continuous rotation servos so using 0's and 180's is how I would control them at full speed. I checked the numbers over and over but they don't seem to be the problem.
//Constants for driving servo
const int RForward = 0;
const int RBackward = 180;
const int LForward = RBackward;
const int LBackward = RForward;
const int RNeutral = 90;
const int LNeutral = 90; //0 Speed
//Name the Servos for Left and Right Motor
Servo LMotor;
Servo RMotor;
The following 2 functions, when called, transmit an infrared signal through the transmitters. I do not think this is related to the problem because the sensors still detect objects, but my robot just doesn't respond the way I want it to.
//Take Reading from Left IR Sensor
void LeftIRled(){
for(int i=0;i<=384;i++){
digitalWrite(LeftTransPin, HIGH);
delayMicroseconds(13);
digitalWrite(LeftTransPin, LOW);
delayMicroseconds(13);
}
}
//Take Reading from Right IR Sensor
void RightIRled(){
for(int i=0;i<=384;i++){
digitalWrite(RightTransPin, HIGH);
delayMicroseconds(13);
digitalWrite(RightTransPin, LOW);
delayMicroseconds(13);
}
}
These functions control the direction in which the robot moves. I've checked it many times but this could possibly be one of the problems. They basically just control the spin of each individual servo with the previously declared variables.
//Controlling Servo Directions with Functions
void Forward(){
RMotor.write(RForward);
LMotor.write(LForward);
}
void Backup(){
RMotor.write(RBackward);
LMotor.write(LBackward);
}
void Stop(){
RMotor.write(RNeutral);
LMotor.write(LNeutral);
}
void Left(){
RMotor.write(RForward);
LMotor.write(LNeutral);
}
void Right(){
RMotor.write(RNeutral);
LMotor.write(LForward);
}
//Declare INPUT and OUTPUT for each Pin connected
//to Arduino Uno and set them to LOW
void setup(){
pinMode(LeftTransPin, OUTPUT);
digitalWrite(LeftTransPin, LOW);
pinMode(RightTransPin, OUTPUT);
digitalWrite(RightTransPin, LOW);
//drive forward
LMotor.attach(9);
RMotor.attach(10);
Forward();
}
Although I can't pinpoint the problem I believe it has something to do with the loop function. It is here that I transmit the infrared signal, receive it, and then call various functions which control the movement of the robot.
void loop(){
/*Drive forward until you reach an obstacle on either the
right side, left side, or both together(something in front of
you). If the left sensor goes low, he turns right, if the right
sensor goes low, he turns left. if both turn on at the same time
he stops, backs up, and turns right till he is out of danger
*/
int lstate;
int rstate;
LeftIRled();
lstate = digitalRead(LsensorPin);
delay(50);
RightIRled();
rstate = digitalRead(RsensorPin);
delay(50);
if (lstate == LOW && rstate == LOW)
{
Stop();
delay(100);
Backup();
delay(1000);
Stop();
delay(100);
Right();
delay(500);
}
else if (lstate == LOW)
{
Stop();
delay(100);
Backup();
delay(1000);
Right();
delay(500);
}
else if (rstate == LOW)
{
Stop();
delay(100);
Backup();
delay(1000);
Left();
delay(500);
}
else
{
Forward();
}
}
Any help or advice is greatly appreciated!