Line following code

#include <QTRSensors.h>


QTRSensors qtr;

const uint8_t SensorCount = 4;

uint16_t sensorValues[SensorCount];
const int In1 = A2;

const int In2 = A3;

const int In3 = A1;

const int In4 = A0;

const int EnA = 11;
const int EnB = 3;

void setup()

{
   qtr.setTypeRC();

  qtr.setSensorPins((const uint8_t[]){4, 5, 6, 7}, SensorCount);

  Serial.begin(9600);
  pinMode(In1, OUTPUT);
  pinMode(In2, OUTPUT);
  pinMode(In3, OUTPUT);
  pinMode(In4, OUTPUT);
  pinMode(EnA, OUTPUT);
  pinMode(EnB, OUTPUT);

}

void loop() {
  qtr.read(sensorValues);
    int leftValue = map(sensorValues[0], 0, 1500, 0, 20);
    int leftCenterValue = map(sensorValues[1], 0, 1500, 0, 20);
    int rightCenterValue = map(sensorValues[2], 0, 1500, 0, 20);
    int rightValue = map(sensorValues[3], 0, 1500, 0, 20);



    if (leftValue - 3 > rightValue)
{
        goRight();
    }
    else if (leftValue < rightValue - 3)
    {

        goLeft();
    }

else
{
goStraight();
}


Serial.print(leftValue);

 Serial.print('\t');

 Serial.print(leftCenterValue);

  Serial.print('\t');

   Serial.print(rightCenterValue);

   Serial.print('\t');
   Serial.print(rightValue);

   Serial.print('\t');

   Serial.println();

  delay(200);



  delay(250);
  }
   void goStraight()
  {
    digitalWrite(In1, HIGH);
   digitalWrite(In2, LOW);
    digitalWrite(In3, HIGH);
    digitalWrite(In4, LOW);
    analogWrite(EnA, 100);
    analogWrite(EnB, 100);
    delay(50);
   Stop();
  }

  void Stop()
  {
    digitalWrite(In1, LOW);
    digitalWrite(In2, LOW);
    digitalWrite(In3, LOW);
    digitalWrite(In4, LOW);
    analogWrite(EnA, 0);
    analogWrite(EnB, 0);
   }

  void goRight()
   {
    digitalWrite(In1, HIGH);
    digitalWrite(In2, LOW);
    digitalWrite(In3, LOW);
    digitalWrite(In4, HIGH);
    analogWrite(EnA, 100);
    analogWrite(EnB, 100);
    delay(50);
    Stop();
    }
  void goLeft()
  {
    digitalWrite(In1, LOW);
    digitalWrite(In2, HIGH);
    digitalWrite(In3, HIGH);
    digitalWrite(In4, LOW);
    analogWrite(EnA, 100);
    analogWrite(EnB, 100);
    delay(50);
    Stop();
    }