Ok, so I looked at your code, then I agreed with your comment at the top of your loop function.
Several very significant problems, making this actually do nothing like what you think it should.
1. You have a bunch of if statements that do nothing,
if (test == condition);
You should put the code you want to execute as a result of the test in braces like you have elsewhere. You are also testing things that will always be false for the most part but baby steps I guess.
2. I thought you said you removed delay? I can see two delay(1500) calls, one of which is going to execute every loop which would correspond with your .66HZ sensor activations. The way you are trying to wait for servos to finish their movements you might as well be using delay anyway. The point of avoiding delay is you can do something else instead of waiting, if the something else you are doing is only checking if you should still be waiting, you might as well use delay.
3. I'm really basically unsure what you think is going on here based on the last if statement and associated comment in your loop. setup executes once on starting up, then loop runs forever. You don't need to do anything at all to get to the beginning, other than getting to the end of it. That happens here every 1800 ms it looks like, because you are using delay.