robot steering

my robot code is missing something and i can’t figure it out i am trying to get the motor to turn wile it steers at the same time. i am using millis but for some reason it will set to 90 deg. in setup, but will not execute the loop commands please help :~

 #include <Servo.h>

Servo esc;  // setup esc just like a servo
Servo sts;  // steering servo
boolean steering1flag = true;   //steering 1 will only run if this is true
boolean steering2flag = false;  //steering 2 will only run if this is true.
unsigned long steeringtimer1; 
unsigned long steeringtimer2; 

void setup() 
{
  steeringtimer1 = millis();    //start the watch for steering 1
  esc.attach(5); // esc attach to pin 5
  sts.attach(9); // steering servo attach to pin 9
  esc.writeMicroseconds(1500);  // set esc to 0 "or midi-point on servo
  sts.write(90);  // set steering servo to mid-point
} 

void loop() 
{
  int i;
  for (i = 0;i <40; i++) //repeats esc command 40 times
   {
    esc.writeMicroseconds(1687);// foward
    delay(2000);   
    esc.writeMicroseconds(1330); //reverse
    delay(3000);
   }

  if (millis() - steeringtimer1 >= 3000 && steering1flag == true)  //has 4 seconds passed AND do I need to run the steering?
   {  
    sts.write(45);    //turn steering servo
    steeringtimer2 = millis(); //start the watch for steering 2 
    steering1flag = false; // steering 1 doesn't need to run again
    steering2flag = true;  //steering 2 has to go.
   }
  if (millis() - steeringtimer2 >= 3000 && steering2flag == true)
   {
    sts.write(135);   //turns steering servo
    steeringtimer1 = millis();   //start the watch for steering 1
    steering2flag = false;  //steering 1 has to go again
    steering1flag = true;  //steering 2 has to wait
   }
}

Your loop() function does 200 seconds of forward and reverse before looking at any steering commands. To get the Arduino to share the time you can't use ANY delay() calls.

so should i use the same time of millis technique i used on steering

toka519:
so should i use the same time of millis technique i used on steering

Yes. Absolutely.