My first ever robot I got

This is a light follower robot that stops in front of objects.

Its made from a Microbot from Picaxe.

Code:

symbol left = b9

symbol right = b7

symbol difference = b4

main:

     if pinC.6 = 1 then

     halt A

     halt B

     wait 2

     endif

     readadc 7, left

     readadc 9, right

     pause 10

     pulsout C.2, 2

     pulsin C.2, 1, w0

     w1 = w0 * 5 / 58

     if w1 < 10 then

      halt A

      halt B

      goto main

     endif

     if left > right then

      difference = left - right

      if difference >= 10 then

       halt B

       forward A

      else

       forward A

       forward B

      endif

     else

       difference = right - left

       if difference >= 10 then

        forward B

        halt A

       else

        forward A

        forward B

       endif

      endif

      goto main