I was trying to use few lines of code without any libraries, that were made by other people. This code works perfectly fine for me. However, I want to put a calibration code in setup, so that it can calibrate by itself every time I start the robot. Can you please add the calibration code at the start of the code and share it back for me? Thank you 
Ps. few extra codes in color_left comparing to color_right is some codes that I have failed to make them calibrate.
#include <AFMotor.h>
#include <LiquidCrystal_I2C.h> //Load Liquid Crystal Library
LiquidCrystal_I2C lcd(0x27, 16, 2);
AF_DCMotor motor1(1, MOTOR12_64KHZ);
AF_DCMotor motor2(2, MOTOR12_64KHZ);
int dir;
int forward = 0;
int left = 1;
int right = 2;
int backward = 3;
int wait = 4;
const int ls0 = 22;
const int ls1 = 24;
const int ls2 = 26;
const int ls3 = 28;
const int lout = 30;
const int rs0 = 44;
const int rs1 = 46;
const int rs2 = 48;
const int rs3 = 50;
const int rout = 52;
int red_left = 0;
int green_left = 0;
int blue_left = 0;
int red_right = 0;
int green_right = 0;
int blue_right = 0;
float SF_left[3];
float SF_right[3];
void setup()
{
Serial.begin(9600);
pinMode(ls0, OUTPUT);
pinMode(ls1, OUTPUT);
pinMode(ls2, OUTPUT);
pinMode(ls3, OUTPUT);
pinMode(lout, INPUT);
digitalWrite(ls0, HIGH);
digitalWrite(ls1, HIGH);
pinMode(rs0, OUTPUT);
pinMode(rs1, OUTPUT);
pinMode(rs2, OUTPUT);
pinMode(rs3, OUTPUT);
pinMode(rout, INPUT);
digitalWrite(rs0, HIGH);
digitalWrite(rs1, HIGH);
// turn on motor
motor1.setSpeed(255);
motor2.setSpeed(255);
motor1.run(RELEASE);
motor2.run(RELEASE);
lcd.init();
lcd.backlight();
lcd.setCursor(0, 0); //Set LCD cursor to upper left corner, column 0, row 0
}
void loop()
{
color_left();
color_right();
if (red_right < green_right < 70 && blue_right < green_right < 71 && red_right < 60 && blue_right < 62)
{
lcd.setCursor(0,0);
lcd.print("Black Right");
}
else if (red_right > 5 && red_right < 13 && green_right > 5 && green_right < 13 && blue_right > 5 && blue_right < 13) {
lcd.setCursor(0,0);
lcd.print("White Right");
}
else if (green_right < red_right < 41 && green_right < blue_right < 31)
{
lcd.setCursor(0,0);
lcd.print("Green right");
}
if (red_left > 5 && red_left < 13 && green_left > 5 && green_left < 13 && blue_left > 5 && blue_left < 13) {
lcd.setCursor(0,1);
lcd.print("White Left");
}
if (red_left < green_left < 70 && blue_left < green_left < 71 && red_left < 60 && blue_left < 61) {
lcd.setCursor(0,1);
lcd.print("Black Left");
}
else if (green_left < red_left < 41 && green_left < blue_left < 31)
{
lcd.setCursor(0,1);
lcd.print("Green Left");
}
Serial.print("Left R:");
Serial.print(red_left, DEC);
Serial.print(" G:");
Serial.print(green_left, DEC);
Serial.print(" B:");
Serial.println(blue_left, DEC);
Serial.print("Right R:");
Serial.print(red_right, DEC);
Serial.print(" G:");
Serial.print(green_right, DEC);
Serial.print(" B:");
Serial.println(blue_right, DEC);
}
void color_left()
{
digitalWrite(ls2, LOW);
digitalWrite(ls3, LOW);
//count OUT, pRed, RED
red_left = pulseIn(lout, digitalRead(lout) == HIGH ? LOW : HIGH);
digitalWrite(ls3, HIGH);
//count OUT, pBLUE, BLUE
blue_left = pulseIn(lout, digitalRead(lout) == HIGH ? LOW : HIGH);
digitalWrite(ls2, HIGH);
//count OUT, pGreen, GREEN
green_left = pulseIn(lout, digitalRead(lout) == HIGH ? LOW : HIGH);
SF_left[0] = (255 / red_left);
SF_left[1] = (255 / green_left);
SF_left[2] = (255 / blue_left);
red_left = (255 - red_left);
green_left = (255 - green_left);
blue_left = (255 - blue_left);
// red_left = (red_left * SF_left[0]);
//green_left = (green_left * SF_left[1]);
//blue_left = (blue_left * SF_left[2]);
}
void color_right()
{
digitalWrite(rs2, LOW);
digitalWrite(rs3, LOW);
//count OUT, pRed, RED
red_right = pulseIn(rout, digitalRead(rout) == HIGH ? LOW : HIGH);
digitalWrite(rs3, HIGH);
//count OUT, pBLUE, BLUE
blue_right = pulseIn(rout, digitalRead(rout) == HIGH ? LOW : HIGH);
digitalWrite(rs2, HIGH);
//count OUT, pGreen, GREEN
green_right = pulseIn(rout, digitalRead(rout) == HIGH ? LOW : HIGH);
}
