Arduino robot problem

Please take the time to read How to get the best out of this forum.

Then post a reply that includes your entire sketch (enclosed in code tags), a clear and legible schematic (pen and paper is fine), and links to documentation/datasheets for all the hardware you are using, Once you have done that, people will have the necessary information to perhaps be able to help you diagnose your problem(s). At the moment, you've given us nothing to work with.

And give a thought to what category you've posted in.