My project is this : I have my boe-bot and three objects with different shapes. The first shape is only detected by the left ir sensor, the second shape is only detected by the right sensor and the third shape is detected by both sensors. The objects will be placed one at a time (in a random order) on a surface that is the same. The boe-bot will then push the object to a certain place depending on the shape of the object. Then it will go back to the first location (the surface where I place the shapes). I need my robot to define the shape of the object and then execute the maneuvers. Only when the maneuvers are done it should define the shape of the next object. When no object is detected it should stop moving. Thank you very much for your answer it means a lot.