robot drives forward infinitely, but if a wall is detected, it backs up and turns.

Distance Sensor, detect wall, back up and turn

#pragma config(Sensor, port4,  distanceSensor, sensorVexIQ_Distance)
#pragma config(Motor,  motor1,          leftMotor,     tmotorVexIQ, openLoop, encoder)
#pragma config(Motor,  motor6,          rightMotor,    tmotorVexIQ, openLoop, reversed, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*------------------------------------------------------------------------------------------------
Move forward until the VEX IQ Distance Sensors sees an object 100 millimeters (mm) away. The VEX
IQ Distance Sensor returns values in millimeters.

ROBOT CONFIGURATION: VEX IQ Clawbot
MOTORS & SENSORS:
[I/O Port]          [Name]              [Type]                			[Info]
Port 7        			distanceSensor      VEX IQ Distance		      		Distance Sensor (returns mm)
Port 1        			leftMotor           VEX IQ Motor		      			Left side motor
Port 6       				rightMotor          VEX IQ Motor		      			Right side motor (reversed)
------------------------------------------------------------------------------------------------*/

task main()
{
	while(true)
	{

	if(getDistanceValue(distanceSensor) > 50)
	{
		setMotorSpeed(leftMotor, -50);  //Move left motor at 50% speed
		setMotorSpeed(rightMotor, -50); //Move right motor at 50% speed
	}
	else
	{	setMotorSpeed(leftMotor, 0);
		setMotorSpeed(rightMotor, 0);
		sleep(500);                     //stop

	resetMotorEncoder(leftMotor);
	resetMotorEncoder(rightMotor);
	moveMotorTarget(leftMotor, 500, 50);
	moveMotorTarget(rightMotor, 500, 50);
	waitUntilMotorStop(leftMotor);
	waitUntilMotorStop(rightMotor);  //backup
	sleep(500);

	resetMotorEncoder(leftMotor);
	resetMotorEncoder(rightMotor);
	moveMotorTarget(leftMotor, -200, -50);
	moveMotorTarget(rightMotor, 200, 50);
	waitUntilMotorStop(leftMotor);
	waitUntilMotorStop(rightMotor);  //turn right
	sleep(500);
}}}