Making a Robot Play Fetch

#include <ESP32_Servo.h>
#include <Pixy2I2C.h>
#include "esp32-hal-ledc.h"
Pixy2I2C pixy;

#define CENTER 100
#define DEADZONE 10

int motor_pins[] = {26,27,9,10};

Servo gripper;
int servo_pin = 25;
int pos;
int state = 1;

const int freq = 490, resolution = 8;

void setup()
{
  Serial.begin(115200);
  Serial.print("Starting...\n");
  
  pixy.init();
  gripper.attach(servo_pin);
  for(int i=0;i<4;i++){
    ledcAttachPin(motor_pins[i],i+2);
    ledcSetup(i+2,freq,resolution);
    
  }
  set_gripper(0);
  delay(2000);
  set_gripper(1);
}

void loop()
{ 
  int i; 
  // grab blocks!
  pixy.ccc.getBlocks();
  
  // If there are detect blocks, print them!
  if (pixy.ccc.numBlocks)
  {
    //Serial.print("Detected ");
    //Serial.println(pixy.ccc.numBlocks);
    for (i=0; i<pixy.ccc.numBlocks; i++)
    {
      /*Serial.print(pixy.ccc.blocks[i].m_width);
      Serial.print(" ");
      Serial.println(pixy.ccc.blocks[i].m_height);
      /*Serial.print("  block ");*/
      //Serial.print(i);
      //Serial.print(": ");
      //pixy.ccc.blocks[i].print();
      if(pixy.ccc.blocks[i].m_width > 220){
        set_gripper(2);
        move(0);
        state = 0;
        move(4);
        delay(3000);
        move(0);
        set_gripper(1);
        while(1);
      }
    Serial.print(pixy.ccc.blocks[i].m_x);
    Serial.print(",");
    Serial.println(pixy.ccc.blocks[i].m_width);
    }
    if(state==1){
    if(pixy.ccc.blocks[i].m_x >= CENTER-DEADZONE || pixy.ccc.blocks[i].m_x <= CENTER+DEADZONE){
      move(3);
      delay(2);
      move(0);
    }
    else if(pixy.ccc.blocks[i].m_x > CENTER){
      //while(pixy.ccc.blocks[i].m_x > CENTER){
        move(1);
        delay(2);
        move(0);
      //}
    }
    
    else if(pixy.ccc.blocks[i].m_x < CENTER){
      //while(pixy.ccc.blocks[i].m_x < CENTER){
        move(2);
        delay(2);
        move(0);
      //}
    }
  }  
  }
  if(Serial.available()>0){
    pos = Serial.parseInt();
    Serial.println(pos);
    if(pos != 0){
      gripper.write(pos);
    }
  }
  
}

void move(int dir){
  switch(dir){
    case 0: //stop
      ledcWrite(2, 0);
      ledcWrite(3, 0);
      ledcWrite(4, 0);
      ledcWrite(5, 0);
      break;
    case 1: //left
      ledcWrite(2, 120);
      ledcWrite(3, 0);
      ledcWrite(4, 120);
      ledcWrite(5, 0);
      break;
    case 2: //right
      ledcWrite(2, 0);
      ledcWrite(3, 120);
      ledcWrite(4, 0);
      ledcWrite(5, 120);
      break;
    case 3: //forward
      ledcWrite(2, 0);
      ledcWrite(3, 120);
      ledcWrite(4, 120);
      ledcWrite(5, 0);
      break;
    case 4: //back
      ledcWrite(2, 120);
      ledcWrite(3, 0);
      ledcWrite(4, 0);
      ledcWrite(5, 120);
      break;
  }
}

void set_gripper(int state){
  switch(state){
    case 0: 
      gripper.write(180);//closed
      break;
    case 1:
      gripper.write(0);//open
      break;
    case 2:
      gripper.write(60);//grip
      break;
  }
}