Ultrasonic sensor sr b1

I need help with measuring the distance so i can decide to turn left or right my car uses one servo to turn and is 4 wheel drive with one motor

I can not figure out how to measure the distance using 2 sr-04 ultrasonic sensors and i need HELP

my car has two ultrasonic sensors one on the left and the right I also am using a adafruit motor shield so will this effect my choice of ports I use for the ultrasonic sensors

Will this be a hardware or software or both please help......

rc_car_test.ino (670 Bytes)

#include <AFMotor.h>
#include <Servo.h>
#include <Ultrasonic.h>

Servo servoturn;
AF_DCMotor motor(2, MOTOR12_64KHZ);

void setup() {

servoturn.attach(13);
servoturn.writeMicroseconds(1500);

}

void loop() {

motor.setSpeed(150);
delay(3500);
servoturn.writeMicroseconds(1500);
motor.run(FORWARD);

if (putvalueofultrasonicsensorheredistanceincm < 50){ //I need help here

motor.setSpeed(100);
servoturn.writeMicroseconds(2000);

}else if (putvalueofultrasonicsensorheredistanceincm < 50){ //and here for distance in cm

motor.setSpeed(100);
servoturn.writeMicroseconds(1000);

}
}