Code

sprite = Sprite('Tobi')
quarky = Quarky()

# User Defined Functions
def LED_Feedback():
  if quarky.getirstate("IRL"):
    quarky.setled(1, 1, [42, 255, 0], 100)

  else:
    pass
    quarky.setled(1, 1, [255, 0, 0], 100)

  if quarky.getirstate("IRR"):
    quarky.setled(7, 1, [42, 255, 0], 100)

  else:
    pass
    quarky.setled(7, 1, [255, 0, 0], 100)


quarky.setirthreshold("IRL", 3000)
quarky.setirthreshold("IRR", 3000)

while True:
  LED_Feedback()
  if (quarky.getirstate("IRL") and quarky.getirstate("IRR")):
    quarky.stoprobot()

  else:
    pass
    if quarky.getirstate("IRL"):
      quarky.runmotor("R", "FORWARD", 40)
      quarky.runmotor("L", "BACKWARD", 25)

    else:
      pass
      if quarky.getirstate("IRR"):
        quarky.runmotor("L", "FORWARD", 40)
        quarky.runmotor("R", "BACKWARD", 25)

      else:
        pass
        quarky.runrobot("FORWARD", 40)

Output