Arduino Cybot Light Follower[Test Code 3]

http://youtu.be/lrTrVeVSFV4

//Motor control pins

int rightfor = 11;
int rightback = 10;
int leftfor = 9;
int leftback = 6;

//Variables

int diff = 0;
int correctionspeed = 0;

//Prototypes
int correction(int diff);


void setup(){

  Serial.begin(9600);

  pinMode(A0, INPUT);
  pinMode(A1, INPUT);
  pinMode(rightfor, OUTPUT);
  pinMode(rightback, OUTPUT);
  pinMode(leftfor, OUTPUT);
  pinMode(leftback, OUTPUT);

}

void loop(){

  if( analogRead(A0) > 10 || analogRead(A1) > 10){
  while(diff < 200){



  analogWrite(rightfor, 225);
  analogWrite(rightback, 0);
  analogWrite(leftfor, 225);
  analogWrite(leftback, 0);

  diff = analogRead(A0) - analogRead(A1);
  if(diff < 0) diff = (-1) * diff;

  }

  correction(diff);

  if ( analogRead(A0) > analogRead(A1)){

  analogWrite(rightfor, 20);
  analogWrite(rightback, 0);
  analogWrite(leftfor, correctionspeed);
  analogWrite(leftback, 0);


  }
  else if ( analogRead(A1) > analogRead(A0)){

    analogWrite(rightfor, correctionspeed);
    analogWrite(rightback, 0);
    analogWrite(leftfor, 20);
    analogWrite(leftback, 0);


  }
  }
  else {

    analogWrite(rightfor, 0);
    analogWrite(rightback, 0);
    analogWrite(leftfor, 0);
    analogWrite(leftback, 0);

  }
  Serial.println("");
  Serial.println(analogRead(A0));
  Serial.println(analogRead(A1));
  Serial.println(analogRead(A0)-analogRead(A1));
  delay(100);

}

int correction(int diff){

  correctionspeed = (diff * (225/400)) + 127;

}