R/C car w/ joystick

I wrote this arduino code. It’s working fine but i just wanted to get your opinion about the code and can anything be done to improve the code.
The code is of a R/c car controlled by a analog joystick.

  int val1 ; //variable to store pot value
  int val2 ;
  int val3 ;
  int val4 ;
  int val5 ;
  int val6 ;
  int val7 ;
  int val8 ;

 
 void setup() {
  Serial.begin(9600);
  pinMode(5, OUTPUT) ;
  pinMode(6, OUTPUT) ;
  pinMode(10, OUTPUT) ;
  pinMode(11, OUTPUT) ;
  pinMode(13, OUTPUT) ;
  
}

void loop() {
  int sensorValue1 = analogRead(A0); 
  delay(50) ;
  int sensorValue2 = analogRead(A1);
  delay(50) ;
  int sensorValue3 = analogRead(A2);
  delay(50) ;
  int sensorValue4 = analogRead(A3);
    
  if(sensorValue1 < 480)
  { 
     val1 = map(sensorValue1, 0, 480, 0, 255) ;
     val1 = 255 - val1 ;
     analogWrite(5, val1) ; //pins of l293d ic
     digitalWrite(6, LOW) ;
     analogWrite(10, val1) ;
     digitalWrite(11, LOW) ;
     Serial.print("sensorValue1=");
     Serial.println(val1, DEC);
     analogWrite(9, val1) ;
       }

  else if(sensorValue1 > 510) 
   {
     val2 = map(sensorValue1, 510, 1023, 0, 255) ;
     analogWrite(6, val2) ;
     digitalWrite(5, LOW) ;
     analogWrite(11, val2) ;
     digitalWrite(10, LOW) ;
     Serial.print("sensorValue2=");
     Serial.println(val2, DEC);
     analogWrite(9, val2) ;
     }
   
   else if(sensorValue2 < 480)
  { 
     val3 = map(sensorValue2, 0, 480, 0, 255) ;
     val3 = 255 - val3 ;
     analogWrite(5, val3) ;
     digitalWrite(6, LOW) ;
     analogWrite(11, val3) ;
     digitalWrite(10, LOW) ;
     Serial.print("sensorValue3=");
     Serial.println(val3, DEC);
     analogWrite(9, val3) ;
       
 }
  

  else if(sensorValue2 > 510) 
   {
     val4 = map(sensorValue2, 510, 1023, 0, 255) ;
     analogWrite(6, val4) ;
     digitalWrite(5, LOW) ;
     analogWrite(10, val4) ;
     digitalWrite(11, LOW) ;
     Serial.print("sensorValue4=");
     Serial.println(val4, DEC);
     analogWrite(9, val4) ;
       
   }
  else if(sensorValue3 < 480)
  { 
     val5 = map(sensorValue3, 0, 480, 0, 255) ;
     val5 = 255 - val5 ;
     
     Serial.print("sensorValue5=");
     Serial.println(val5, DEC);
     analogWrite(9, val5) ;
       }

  else if(sensorValue3 > 510) 
   {
     val6 = map(sensorValue3, 510, 1023, 0, 255) ;
     Serial.print("sensorValue6=");
     Serial.println(val6, DEC);
     analogWrite(9, val6) ;
     }
   
   else if(sensorValue4 < 480)
  { 
     val7 = map(sensorValue4, 0, 480, 0, 255) ;
     val7 = 255 - val7 ;
     Serial.print("sensorValue7=");
     Serial.println(val7, DEC);
     analogWrite(9, val7) ;
       
 }
  

  else if(sensorValue4 > 510) 
   {
     val8 = map(sensorValue4, 510, 1023, 0, 255) ;
     Serial.print("sensorValue8=");
     Serial.println(val8, DEC);
     analogWrite(9, val8) ;
       
   }
    
   else
   {
     analogWrite(6, LOW) ;
     digitalWrite(5, LOW) ;
     analogWrite(10, LOW) ;
     digitalWrite(11, LOW) ; 
     Serial.print("sensorValue1==") ;
     Serial.println(sensorValue1) ;
     Serial.print("sensorValue2==") ;
     Serial.println(sensorValue2) ;
     Serial.print("sensorValue3==") ;
     Serial.println(sensorValue3) ;
     Serial.print("sensorValue4==") ;
     Serial.println(sensorValue4) ;
     Serial.println("No Action");
     digitalWrite(9, HIGH) ; 
      
     delay(500) ;
 }
  }