Remote control car-based on Seeedruino XIAO expansion board

#include <Arduino.h>
#include <IRremote.h>
#include <SparkFunMiniMoto.h>  // Include the MiniMoto library
// Create two MiniMoto instances, with different address settings.
MiniMoto motor0(0xC4); // A1 = 1, A0 = clear
MiniMoto motor1(0xC0); // A1 = 1, A0 = 1 (default)

#define FAULTn  1     // Pin used for fault detection.

int RECV_PIN = 0; // set pin 2 as IR control
IRrecv irrecv(RECV_PIN);
decode_results results;

void setup() {
  Serial.begin(9600);
  Serial.println("Enabling IRin");  // remind enabling IR
  irrecv.enableIRIn(); // Start the receiver
  pinMode(FAULTn, INPUT);
}

void loop() {
  if (irrecv.decode(&results)) { //checking IR signal
    if (results.value == 2155862055) {
      //Forward  2155862055
      motor0.drive(-600);
      motor1.drive(600);
      delayUntil(20);
    }
    if (results.value == 2155813095) {
      //Brake   2155813095
      motor0.brake();
      motor1.brake();
      delay(100);
    }
    if (results.value == 2155823295) {
      //backward  2155823295
      motor0.drive(600);
      motor1.drive(-600);
      delayUntil(20);
    }
    if (results.value == 2155829415) {
      //Stop  2155829415
      motor0.stop();
      motor1.stop();
      delay(100);
    }
    if (results.value == 2155821255) {
      //turn right   2155821255
      motor0.drive(600);
      motor1.drive(600);
      delayUntil(20);
    }
    if (results.value == 2155837575) {
      //turn left    2155837575
      motor0.drive(-600);
      motor1.drive(-600);
      delayUntil(20);
    }
    irrecv.resume();                    //recive next intrustion

  }
  delay(100);
}

void delayUntil(unsigned long elapsedTime) {
  unsigned long startTime = millis();
  while (startTime + elapsedTime > millis()) {
    if (digitalRead(FAULTn) == LOW) {
      byte result = motor0.getFault();
      result = motor1.getFault();
    }
  }
}