Robot bluetooth control and obstacle avoiding

Hello, I have a simple problem, which is: When I connect to the robot via the phone it works in good condition and when I turn on the avoid barrier mode it always works and when I give it the stop order it remains in the system of avoiding barriers I want a
solution to this problem. Thank you

This url code

https://mega.nz/file/PTJwSTrC#bcVtL15ukWDYEU8bxwb4qlKEXygueaXBVBBHF_KozB0

@ahmed-sahle, your topic has been moved to a more suitable location on the forum.

Please post your code in a post using code tags, not a link to something somewhere. Please read How to get the best out of this forum to find out how to use code tags if you don't know that yet.

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