How to code an Ultrasonic Sensor and Line Tracing Sensor for Sumobot?

Can anybody help me in this? I’m programming a Sumobot for a competition but my code is running on a white(0) space and avoids black(1) space instead of a normal sumobot ring. How do I reverse the color code? I’m using an Arduino / Genuino Uno with a L298n Motor Driver. Also Please help me in the code for the Ultrasonic Sensor ( there are 3 ultrasonic sensor ). Thanks!

JSUMO2.ino (1.74 KB)

int Sensor1 = 10;
int ENA = 11, EN1 = 4, EN2 = 5, EN3 = 6, EN4 = 7, ENB = 9;
int trig=13,echo=12;
int trig2=A0,echo2=A1;
int trig3=A3,echo3=A4;
float js;
float jsh2;
float js3;
boolean chg = HIGH;
int js2;
int noy=0;

void setup() {
pinMode (Sensor1, INPUT);
pinMode (ENA, OUTPUT);
pinMode (EN1, OUTPUT);
pinMode (EN2, OUTPUT);
pinMode (EN3, OUTPUT);
pinMode (EN4, OUTPUT);
pinMode (ENB, OUTPUT);
pinMode (2, INPUT);
pinMode (3, INPUT);
pinMode (trig,OUTPUT);
pinMode (echo,INPUT);
attachInterrupt (digitalPinToInterrupt (2), SensorL, HIGH );
attachInterrupt (digitalPinToInterrupt (3), SensorR, HIGH );
delay (5000);
}

void loop() {
// put your main code here, to run repeatedly:

js = pulseIn (echo, HIGH);
if (js == 50 ){
Motor1 (225,HIGH,LOW);
Motor2 (225,HIGH,LOW);
delayMicroseconds (5);
}
jsh2 = pulseIn (echo2, HIGH);
if (jsh2 == 50 ){
Motor1 (225,LOW,HIGH);
Motor2 (225,HIGH,LOW);
delayMicroseconds (5);

}
js3 = pulseIn (echo3, HIGH);
if (js3 == 50 ){
Motor1 (225,HIGH,LOW);
Motor2 (225,LOW,HIGH);
delayMicroseconds (5);

}
if (noy ==1){
Motor1 (225,LOW,HIGH);
Motor2 (225,LOW,HIGH);
delay (1000);
Motor1 (225,LOW,HIGH);
Motor2 (225,HIGH,LOW);

delay (1000);

noy=0;
}else if (noy ==2){
Motor1 (225,LOW,HIGH);
Motor2 (225,LOW,HIGH);
delay (1000);
Motor1 (225,HIGH,LOW);
Motor2 (225,LOW,HIGH);

delay (1000);

noy=0;
}
else{
Motor1 (225,HIGH,LOW);
Motor2 (225,HIGH,LOW);

}

}

void Motor1 (int PWMA, boolean FW1 , boolean FW2) {
analogWrite (ENA, PWMA);
digitalWrite (EN1, FW1);
digitalWrite (EN2, FW2);
}

void Motor2 (int PWMB, boolean FW3 , boolean FW4) {
analogWrite (ENB, PWMB);
digitalWrite (EN3, FW3);
digitalWrite (EN4, FW4);
}

void SensorL (){
noy=1;
}
void SensorR (){
noy=2;
}