Obstacle avoiding robot need to stop every for 10 sec

I created a Obstacle avoiding robot but there is a requirement for me to stop the robot for every 10 sec
and activate a servo motor.But i am not able to do it robot is stops for every 10 secs but it does not detect any obstacle,Can any one help me on that please.Code is given below.

#include<Servo.h>
int myangle;
Servo servo1;
Servo servo2;

int Echo = A1; 
int Trig =A0;

int Front_Distance = 0;
int Left_Distance = 0;
int Right_Distance = 0;

int ENA=10;
int ENB=5;
int IN1=9;
int IN2=8;
int IN3=7; 
int IN4=6;

int reading=A2;
int moisture;


void setup()
{
  Serial.begin(9600);
  pinMode(ENA,OUTPUT);
  pinMode(ENB,OUTPUT); 
  pinMode(IN1,OUTPUT);
  pinMode(IN2,OUTPUT); 
  pinMode(IN3,OUTPUT); 
  pinMode(IN4,OUTPUT);
  pinMode(Echo, INPUT);  
  pinMode(Trig, OUTPUT); 
  servo1.attach(3);
  servo2.attach(4);   
} 
void Operate()
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
  digitalWrite(IN1,HIGH); 
  digitalWrite(IN2,LOW);   
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH);
  delay(10000);
  Stop(30);
  M_servo();
}

void Stop(int t)  
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
  digitalWrite(IN1,LOW);
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,LOW);
  delay(t * 100);  
}

void left(int t)        
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
  digitalWrite(IN1,HIGH);   
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);  
  digitalWrite(IN4,LOW);
  delay(t * 100);  
}

void spin_left(int t)        
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
  digitalWrite(IN1,HIGH); 
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,HIGH); 
  digitalWrite(IN4,LOW);
  delay(t * 100);
}

void right(int t)
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
  digitalWrite(IN1,LOW);   
  digitalWrite(IN2,LOW);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH); 
  delay(t * 100); 
}

void spin_right(int t)       
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
   digitalWrite(IN1,LOW);   
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,LOW);
  digitalWrite(IN4,HIGH); 
  delay(t * 100);     
}

void back(int t)          
{
  digitalWrite(ENA,HIGH); 
  digitalWrite(ENB,HIGH); 
  digitalWrite(IN1,LOW);  
  digitalWrite(IN2,HIGH);
  digitalWrite(IN3,HIGH);  
  digitalWrite(IN4,LOW);
  delay(t * 100);      
}


float Distance_test()     
{
  digitalWrite(Trig, LOW);   
  delayMicroseconds(2);
  digitalWrite(Trig, HIGH);  
  delayMicroseconds(5);
  digitalWrite(Trig, LOW);     
  float Fdistance = pulseIn(Echo, HIGH);  
  Fdistance= Fdistance*0.0343/2;
   Serial.print("Distance:");      
  Serial.println(Fdistance);    
  return Fdistance;
}

void M_servo()
{
 for (myangle = 0; myangle <= 180; myangle += 1)
 {
    servo2.write(myangle);      
    delay(15);                      
  }
  for (myangle = 180; myangle >= 0; myangle -= 1)
  {
    servo2.write(myangle);           
    delay(15);                      
  }        
}

void front_detection()
{
  servo1.write(90);
  Front_Distance = Distance_test();
  Serial.print("Front_Distance:");      
  Serial.println(Front_Distance);
}

void left_detection()
{
  for (myangle = 90; myangle <=180 ; myangle += 3)
  {
    servo1.write(myangle);      
    delay(15);                      
  }
  for (myangle =180; myangle >= 90; myangle -= 3)
  {
    servo1.write(myangle);           
    delay(15);                      
  }        
  Left_Distance = Distance_test();
  Serial.print("Left_Distance:");      
  Serial.println(Left_Distance);
}

void right_detection()
{
  for (myangle = 90; myangle >= 0; myangle -= 3)
  {
    servo1.write(myangle);      
    delay(15);                      
  }
  for (myangle = 0; myangle <= 90; myangle += 3)
  {
    servo1.write(myangle);           
    delay(15);                      
  }
  Right_Distance = Distance_test();
  Serial.print("Right_Distance:");      
  Serial.println(Right_Distance);
}

void loop(){
    front_detection();
    if(Front_Distance < 15)
    {
      Stop(5);
      back(5);
      Stop(5);
      left_detection();
      right_detection();
      if((Left_Distance < 15 ) &&( Right_Distance < 15 ))
        spin_left(5);
      else if(Left_Distance > Right_Distance)
      {      
        left(4);
        Stop(3);
      }
      else
      {
        right(4);
        Stop(3);
      }
    }
    else
    {
      Operate();
    }
}

1) Don't use delays 2) Study the blink without delay example to learn how to do that.

Thank you for your help,It works perfectly right now