Robo Slalom III

I need help with Robo Slalom III on robotc. Can someone send me their approach to tackling the challenge? I have listed a left, right and move forward function using the threshold value as being 1500. Having my program embedded in a while(true) loop so it runs indefinitely, and a threshold value that separates light from dark. In RVW the value of 1500 works well. As well there are three if statements embedded in the while loop. Go left, go right, go forward. However in task main it doesn’t work so can I see another person’s approach / code to this task, would be very appreciated?

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