Help Needed Maqueen Plus Line Tracking with Ultrasonic ?

tinyurl.com/ms...
The above link is the MakeCode for the Maqueen car with Micro:bit. It contains the extension that I'm using. The below link is for the DF Robot documentation and teaching page. I'd like to get the car to turn into the oval when an object is confronted and be able to pick up the black line when crossed at 90 degree angle and turn back onto the line then.
Any help to improve this code will be appreciated.
tinyurl.com/mr...