Let's Make Robots!

millis()

Arduino millis() function doesn't seem to work properly

Yes, this is another of these "Help me with my code" posts. I understand that they are annoying but I have to say I'm seriously stuck on this one. All the code works except for the latest addition which is a timer (sort of). So basically, the robot turns right wile comparing Ir readings. When it detects a decrease in the IR level, it turns left until it achieves relatively the biggest IR readings (meaning that the IR source is right in front as there is more radiation detected when facing it).