Implementation of Voice Command to Different Codes

I have a code compiled for my robot, but I am having trouble applying the voice command to the void setup so the action is only performed when I say the command. I am using a Voice Recognition Shield V2, or a Geeetech High Sensitivity Voice Recognition Module.

[#include <Servo.h> //include Servo library

const int RForward = 0; 
const int RBackward = 180; 
const int LForward = RBackward; 
const int LBackward = RForward; 
const int RNeutral = 90; 
const int LNeutral = 90; //constants for motor speed
const int pingPin = 7;
const int irPin = 0;  //Sharp infrared sensor pin
const int dangerThresh = 10; //threshold for obstacles (in cm)
int leftDistance, rightDistance; //distances on either side
Servo panMotor;  
Servo leftMotor;
Servo rightMotor; //declare motors
long duration; //time it takes to recieve PING))) signal

void setup()
{
  rightMotor.attach(11);
  leftMotor.attach(10);
  panMotor.attach(6); //attach motors to proper pins
  panMotor.write(90); //set PING))) pan to center
}

void loop()
{
  int distanceFwd = ping();
  if (distanceFwd>dangerThresh) //if path is clear
  {
    leftMotor.write(LForward); 
    rightMotor.write(RForward); //move forward
  }
  else //if path is blocked
  {
    leftMotor.write(LNeutral);
    rightMotor.write(RNeutral); 
    panMotor.write(0); 
    delay(500);
    rightDistance = ping(); //scan to the right
    delay(500);
    panMotor.write(180);
    delay(700);
    leftDistance = ping(); //scan to the left
    delay(500);
    panMotor.write(90); //return to center
    delay(100);
    compareDistance();
  }
}
  
void compareDistance()
{
  if (leftDistance>rightDistance) //if left is less obstructed 
  {
    leftMotor.write(LBackward); 
    rightMotor.write(RForward); //turn left
    delay(500); 
  }
  else if (rightDistance>leftDistance) //if right is less obstructed
  {
    leftMotor.write(LForward);
    rightMotor.write(RBackward); //turn right
    delay(500);
  }
   else //if they are equally obstructed
  {
    leftMotor.write(LForward); 
    rightMotor.write(RBackward); //turn 180 degrees
    delay(1000);
  }
}

long ping()
{
  // Send out PING))) signal pulse
  pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);
  
  //Get duration it takes to receive echo
  pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);
  
  //Convert duration into distance
  return duration / 29 / 2;
}
  ]

Sorry if I wasn't clear enough.
What I was trying to say was that I recorded three voice commands for my first group- Stop, Wander, Look Around
I want to run separate codes for each of them, the stop being indefinite delay- which I don't know a code for?
Wander being a self run obstacle avoidance code, as listed above.
Look around being a 90 degree sweep of the pan motor in both directions.

I need to know how I can make the code above apply only when I say Wander and the VR replies.
I also don't know how to make a "stop" code so it would be great if someone helped!

:slight_smile: Thanks!