Motion triggers an IR sensor
No, it doesn't. An IR sensor detects IR emissions. They can be present when there is no motion, or not present when there is motion.
A PIR sensor is a different device, and does detect motion, but only of warm bodies.
Instead of 2 feet, i set a distance of 10 units.
Quarts? Fathoms? Light years? 10 units is a useless statement.
THINK about what you want to do. You want to move one servo a little bit. You want to take a distance reading. Then you move the servo again, and take another reading. And again, and again, until something makes the process stop.
You do NOT take one reading and then wave the servos around like a mad-man, which is what your code is doing now.