Making a program that stops a motor after a button is pressed

[thelegendaryfig]

So today, I started a project with my new Arduino Nano and some 3D printed parts. Basically, it's a small robot that will go forward until two buttons at the front are pressed. For example, if the robot crashed into a wall, the two buttons at the front would detect that, and the robot would stop for 10 seconds.

Currently, I have a "drive" function that will drive the robot, and I'm also trying to make a detect function to detect if the buttons are pressed.
Here's my function code:

int IN1 = 3;
int IN2 = 9;
int IN3 = 10;
int IN4 = 11;
int b1Pin = 8;
int b2Pin = 7;

void drive(int lSpeed, int rSpeed){
  if(lSpeed>0){
    analogWrite(IN1, lSpeed);
    digitalWrite(IN2, 0);
  }
  else{
    digitalWrite(IN1, 0);
    analogWrite(IN2, -lSpeed);
  }

  if(rSpeed>0){
    analogWrite(IN3, rSpeed);
    digitalWrite(IN4, 0);
  }
  else{
    digitalWrite(IN3, 0);
    analogWrite(IN4, -rSpeed);
  }
  
}

void detectCrash() {
  if(digitalRead(b1Pin)){
    delay(10000);
  }
  if(digitalRead(b2Pin)){
    delay(10000);
  }
}


void setup() {
  // put your setup code here, to run once:
  drive(255,255);
  detectCrash();


}

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

Sadly, this code doesn't work. Does anyone know some (ideally easy-to-understand) code that can achieve my goal?

Thank you!

EDIT: The code is written in Arduino C++

[gilshultz]

Where is the rest of your code? I see a function and a setup which calls the function. You are missing the main program. Also how do you know it does not work?

[sterretje]

Please post your complete code.
Please use code tags when posting code; use e.g. the </> button.

[thelegendaryfig]

Alright, I put in all the code. Also, I know it doesn't work because when I turn it on and press the buttons, the wheels keep spinning.

[cattledog]

delay(10000)

This delay() command will not stop either the analogWrite() or the digitalWrite() of an output pin.

You need to explicitly turn off the output on the pin with digitalWrite(pin,LOW).

[gilshultz]

That was quick response once somebody could see the problem.