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[求助] Arduino goto语句求解

最近编了一个小车的程序
利用碰撞传感器实现避障
但是小车后退转弯了以后就不能向前走了
只能不停的转圈圈
所以我想在最后的if语句上加上goto语句但是不知道怎么用
求大神帮忙让小车能再动起来！！！
程序如下：

#include <IRremote.h>
int RECV_PIN = 10;
int potpin = 0;
IRrecv irrecv(RECV_PIN);
decode_results results;
void setRomeoMotor(int motorId, int speed)
{
  int speedPin, directionPin;
  if (motorId == 1)
  {
speedPin = 5;
directionPin = 4;
  }
  else
  {
if (motorId == 2)
{
   speedPin = 6;
   directionPin = 7;
}
else
{
   return;
}
  }

  if (speed == 0)
  {
digitalWrite(speedPin, LOW);
  }
  if (speed > 0)
  {
digitalWrite(directionPin, HIGH);
analogWrite(speedPin, speed);
  }
  else
  {
digitalWrite(directionPin, LOW);
analogWrite(speedPin, -speed);
  }
}

void setup()
{
  Serial.begin(9600);
  irrecv.enableIRIn();
  pinMode( 11, INPUT);
  pinMode( 12, INPUT);
  pinMode( 4, OUTPUT);
  pinMode( 5, OUTPUT);
  pinMode( 6, OUTPUT);
  pinMode( 7, OUTPUT);
  digitalWrite(4, LOW);

  digitalWrite(5, LOW);

  digitalWrite(6, LOW);

  digitalWrite(7, LOW);

}

void loop()
{
  int sensorValue = analogRead(potpin);
  int outputValue = map(sensorValue, 0, 1023, 50, 150);
  if (irrecv.decode(&results)) {
Serial.println(results.value, HEX);
irrecv.resume();
if (results.value == 0xFD00FF) {
   setRomeoMotor(1, -outputValue);
   setRomeoMotor(2, -outputValue);
}
if  (results.value == 0xFD40BF) {
   setRomeoMotor(1, 0);
   setRomeoMotor(2, 0);
}
  }
  if (!( digitalRead(11) ))
  {
setRomeoMotor(1, 50);
setRomeoMotor(2, 50);
delay( 1000 );
setRomeoMotor(1, -30);
setRomeoMotor(2, -100);
delay( 400 );
  }
  if (!( digitalRead(12) ))
  {
setRomeoMotor(1, 50);
setRomeoMotor(2, 50);
delay( 1000 );
setRomeoMotor(1, -100);
setRomeoMotor(2, -30);
delay( 400 );
  }
}

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