Obstacle robot (penghindar rintangan)

As the name suggests this robot can avoid obstacles in front of him. this can be done because the robot is equipped with infrared sensors to detect obstacles. same as line follower, the robot is equipped with 2 sensors only have a slightly different program. infrared sensor in addition I also added a sensor to capture the signal from the TV remote so the robot can be controlled by TV remote, but if there are obstacles in front of the robot will escape automatically. thus the robot will not be hit if there is no obstacle in front of him.
Program:

#include <IRremote.h>

int RECV_PIN = 11;
IRrecv irrecv(RECV_PIN);
decode_results results;
void setup()

{
  
  Serial.begin(9600);
  irrecv.enableIRIn(); // Start the receiver
  pinMode(2,OUTPUT);  // kendali motor 1
  pinMode(3,OUTPUT);  // motor 1 +
  pinMode(4,OUTPUT);  // motor 1 -
  pinMode(5,OUTPUT);  // kendali motor 2
  pinMode(6,OUTPUT);  // motor 2 +
  pinMode(7,OUTPUT);  // motor 2 -
}
void kiri(void){
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);     
  delayMicroseconds(100);
  digitalWrite(3,HIGH);
  digitalWrite(4,LOW);     
  delayMicroseconds(100);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);     
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);     
  delayMicroseconds(200);  
}

void kanan(void){
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);     
  delayMicroseconds(100);
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);     
  delayMicroseconds(100);
  digitalWrite(6,HIGH);
  digitalWrite(7,LOW);     
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);     
  delayMicroseconds(200);
}
void maju(void){
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);     
  delayMicroseconds(100);
  digitalWrite(3,LOW);
  digitalWrite(4,HIGH);     
  delayMicroseconds(100);
  digitalWrite(6,LOW);
  digitalWrite(7,HIGH);     
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);     
  delayMicroseconds(200);
}
void mundur(void){
  digitalWrite(3,HIGH);
  digitalWrite(4,LOW);     
  delayMicroseconds(100);
  digitalWrite(6,HIGH);
  digitalWrite(7,LOW);     
  delayMicroseconds(100);
  digitalWrite(2,HIGH);
  digitalWrite(5,HIGH);     
  delayMicroseconds(200);
}        

void henti(void){
  // berhenti
  digitalWrite(3,LOW);
  digitalWrite(4,LOW);     
  delayMicroseconds(100);
  digitalWrite(6,LOW);
  digitalWrite(7,LOW);     
  delayMicroseconds(100);
  digitalWrite(2,LOW);
  digitalWrite(5,LOW);     
  delayMicroseconds(200);
}
void loop() {
  int sensor,sensor2;
   if (irrecv.decode(&results)) {
      Serial.println(results.value);
     if((results.value)== 520||(results.value)== 2568){
maju();
        delay(10);
     }
     if((results.value)== 536||(results.value)== 2584){
        kiri(); 
        delay(10);
     }
    if((results.value)== 546||(results.value)== 2594){
        henti();  
        delay(10);
     }
    if((results.value)== 528||(results.value)== 2576){
        kanan();  
        delay(10);
     }
    if((results.value)== 516||(results.value)== 2564){
        mundur();  
        delay(10);
     } 
     irrecv.resume(); // Receive the next value
   }
  /* int sensor,sensor2;
  baca nilai sensor di PIN A0 (Analog) dan kirim ke serial*/
  sensor=analogRead(A0);//kanan
  sensor2=analogRead(A1); //kiri
 
if(sensor<=900 || sensor2<=900){
  if(sensor<sensor2){
    kiri();}
    delay(200);
  if(sensor2<sensor){
    kanan();} 
   delay(200); 
  }

}

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