using VEXCode with v5 robot, and the rangefinder to turn right then left with a counter

VEX V5 and Rangefinder, right then Left

#include "vex.h"

using namespace vex;

int main() {
    int counter = 0;
    Brain.Screen.print(counter);
    Drivetrain.setDriveVelocity(30, percent);
    wait(1,seconds);
    
  while(true){
    Drivetrain.drive(forward);

  if (RangeFinderA.distance(mm) < 300 && counter == 0)  {
      Drivetrain.stop();
      wait(0.5,seconds);
      Drivetrain.turnFor(right, 90, degrees);
      wait(0.5,seconds);
      counter++;
      Brain.Screen.newLine();
      Brain.Screen.print(counter);
  }

 if (RangeFinderA.distance(mm) < 300 && counter == 1)  {
      Drivetrain.stop();
      wait(0.5,seconds);
      Drivetrain.turnFor(left, 90, degrees);
      wait(0.5,seconds);
      counter++;
      Brain.Screen.newLine();
      Brain.Screen.print(counter);
  }
  }
}