Simple picaxe robot? Answered

main:infrain2
if infra=18 then right
if infra=19 then left
if infra=16 then ahead
goto main

right:high b.5,b.4
pause 200
goto main

left:high c.0,c.1
pause 200
goto main

ahead:high c.0,c.1,b.5,b.4
pause 200
goto main

if you want it with a irin command heres the code

main:irin[1000,main]3,b0
if b0=18 then right
if b0=19 then left
if b0=16 then ahead
goto main

right:high b.5,b.4
pause 200
goto main

left:high c.0,c.1
pause 200
goto main

ahead:high c.0,c.1,b.5,b.4
pause 200
goto main