Sensor timing for motor activation, stuck at cycles of light

Other Hardware Sensors
1

Hi, so my code was working fine taking reading every second but as soon as i grouped different sketches together the sensor no longer wanted to work properly. i have a traffic light system and the sensor is only taking a reading per cycle of the lights. Ive been looking at the code a while now but cant find the issue. Any help would be much appreciated. Here is the code:

//Lights 
int redPin[2] = {10, 7};
int greenPin[2] = {9, 6};
int bluePin[2] = {8, 5};
//light
void setColor(int led, int red, int green, int blue)
{
  analogWrite(redPin[led], red);
  analogWrite(greenPin[led], green);
  analogWrite(bluePin[led], blue);
}
//motor
#include <Servo.h>

Servo myservo;

//sensor 
#include "SR04.h"

#define TRIG_PIN 12
#define ECHO_PIN 11 

SR04 sr04 = SR04(ECHO_PIN,TRIG_PIN);
long a;

void setup()
{
  //start of lights 
  for (int led = 0; led < 2; led++) {
    pinMode(redPin[led], OUTPUT);
    pinMode(greenPin[led], OUTPUT);
    pinMode(bluePin[led], OUTPUT);
  }
  //end of lights 
   Serial.begin(9600);
  

  myservo.attach(3);
  myservo.write(180);
} 
void loop()
{
  {
  setColor(1, 255, 0, 0);  // red
  setColor(0, 0, 255, 0);  // green
  delay(2000);
  setColor(1, 128, 128, 0);  // green
  setColor(0, 255, 0, 0);  // red
  delay(2000);
  setColor(1, 0, 0, 0);
  setColor(0, 0, 0, 0);
  delay(2);
  setColor(1, 255, 255, 255);
  setColor(0, 255, 255, 255);
  delay(2000);
  }
//
a=sr04.Distance();
Serial.print(a);
Serial.println("cm");

//  
if (a <10) {

   myservo.write(90);
   delay(200);
   myservo.write(200);
   delay(200);
   myservo.write(90);
   delay(200);


}}
////
2

How would you like it otherwise? You have a lot of delay() finctions in your code, they block everything else. Until the traffic light cycle ends, the sensor does not measure anything.

You need rewrite your code completely using non-block programming principles. See the BlinkWithoutDelay IDE example. Read something about finite state machines.