How to have no delay in program.

  if(currentMillis - previousMillis > interval) {
    
    previousMillis = currentMillis;  
  }

This bit is correct - but since you are not doing anything when the interval elapses it's a bit like having a clock and not bothering to look at it.

You need to include within the IF statement the stuff you want to happen when the interval elapses.

And, as @AWOL says, you don't need the delay() function at all.

...R