Traversing Through a Maze with the Squarebot

My partner and I set the Squarebot to traverse through a maze autonomously. We began on the bot by taking away the radio receiver and then writing a program to traverse though the maze. This program is written in RobotC:

#pragma config(Sensor, in7,    rEncoder,         sensorRotation)

#pragma config(Sensor, in8,    lEncoder,         sensorRotation)

#pragma config(Motor,  port2,           rMotor,        tmotorNormal, openLoop)

#pragma config(Motor,  port3,           lMotor,        tmotorNormal, openLoop)

//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

int left = 98;

int right = 70;

int wt = 250;

void goForward(int length)

{

  //wait1Msec(2000);

  bMotorReflected[port2]=1;

  SensorValue[lEncoder] = 0;

  while(SensorValue[lEncoder]<length)

  {

    motor[port3]=127;

    motor[port2]=95;

  }

}

void goleft(int length)

{

  //wait1Msec(2000);

  bMotorReflected[port2]=1;

  SensorValue[lEncoder] = 0;

  while(SensorValue[lEncoder]<length)

  {

    motor[port3]=-127;

    motor[port2]=80;

  }

}

void goright(int length)

{

  //wait1Msec(2000);

  bMotorReflected[port2]=1;

  SensorValue[lEncoder] = 0;

  while(SensorValue[lEncoder]<length)

  {

    motor[port3]=127;

    motor[port2]=-80;

  }

}

void w(int wt)

{

  while(SensorValue[lEncoder]<wt)

  {

    motor[port3]=0;

    motor[port2]=0;

    wait1Msec(wt);

  }

}

task main()

{

  goForward(570);

  goleft(left);

  goForward(280);

  goleft(left);

  goForward(550);

  goRight(right);

  goForward(280);

  goRight(right);

  goForward(740);

  goRight(right);

  goRight(3000);

}