Having problems with my Obstacle Avoiding 4wd Robot

I’m a student currently doing a project on Arduino.

So this project I’m making is an Obstacle Avoiding 4wd Robot.
I used
Arduino Sensor shield v5.0
Arduino Uno
And HR-s04 sensor

And I really need some help with the programming because nothing works for me.
I’ll be posting some of the codes I used.

I_need_your_help.ino (7.55 KB)

I_need_your_help_asap.ino (10.1 KB)

btw these are not the programming codes i made but i got it from some sites in the internet.

"having problems"
"nothing works for me".

Could you be a little less vague?

nothing works for me

That is an inadequate description of the problem(s) that you are having. You leave us to try to examine the code and guess at what you need help with. Describe what the code actually does and how that differs from what the code is supposed to do.

Please read the “how to use the forum-please read” stickies to see how to properly format and post code and some hints on how to ask a question.

Oh sorry, it's my first time posting here. I'll be back in a moment.