Yes- much easier to read. Now it is time to begin explaining your expected results versus what is actually happening.
What I see thus far is an accidental combining of two different coding languages:
if (distanceFront < 20 and distanceFront > 0)
vs
if (distanceFront < 20 && distanceFront > 0)
edit: I didn't realize alternates could be implemented successfully; when I accidentally crossed languages, I also had other issues to correct before I received expected results.