Don’t know what you mean by code tag, here’s the whole thing.

#include <Servo.h>

Servo servoLW; //left wheel servo

Servo servoRW; // right wheel servo

Servo servoSL; // scissor lift servo

Servo servoA1; // Left arm

Servo servoA2; //Right arm

// Ultra Sonic Setup

unsigned int duration, mm;

#define ping 2

#define echo 3

void setup() {

servoLW.attach(9); // Attaches servoLW to pin 9

servoRW.attach(10); // Attach servoRW to pin 10

servoSL.attach(11); // Attach servoSL to pin 11

servoA1.attach(12); // Attach servo A1 to pin 12

servoA2.attach(13); // Attach servo A2 to pin 13

servoLW.write(90);servoRW.write(90);servoSL.write(90); servoA1.write(90); servoA2.write(90);// Initial delay for set up

delay(2000);

servoLW.write(180);servoRW.write(0);servoSL.write(90); servoA1.write(90);servoA2.write(90); //Move 1: Move into position for making left turn

delay(1900);

servoLW.write(90);servoRW.write(90);servoSL.write(90); servoA1.write(90);servoA2.write(90); // Pause to ensure traction for the turn

delay(300);

servoLW.write(90);servoRW.write(0);servoSL.write(90);servoA1.write(90);servoA2.write(90);// Make left turn 90 degrees

delay(1690);

servoLW.write(90);servoRW.write(90);servoSL.write(90); servoA1.write(90);servoA2.write(90);//Pause for moment so both wheels at same speed for take off

delay(300);

servoLW.write(180);servoRW.write(0);servoSL.write(0);servoA1.write(90);servoA2.write(90);//Move into position over pole/have assumed that scissor

delay(4000); //lift is high enough for arms to clear the pole, this may

//not turn out to be correct. Start scissor lift

servoLW.write(90);servoRW.write(90);servoSL.write(0); servoA1.write(90);servoA2.write(90);//Lift up to get on pole

delay(28000);

servoLW.write(180);servoRW.write(0);servoSL.write(90);servoA1.write(90);servoA2.write(90);//Move into position over pole

delay(1550);

servoLW.write(90);servoRW.write(90);servoSL.write(180); servoA1.write(90);servoA2.write(90);//Retract onto pole

delay(18000);

servoLW.write(90);servoRW.write(90);servoSL.write(90);servoA1.write(90);servoA2.write(90);//Delay for scissor lift to turn in other direction

delay(300);

// Transverse

servoLW.write(90);servoRW.write(90);servoSL.write(0);servoA1.write(0);servoA2.write(0);//Start arm 1/2 for crossing/start extending scissor lift in prep

do{ mm = ultraRead(); } while (mm == 250); //for getting off pole at other side

servoLW.write(90);servoRW.write(90);servoSL.write(0); servoA1.write(90);servoA2.write(90);//Arm 1 stops/ scissor lift extends to ground and lifts high

delay(29000); //enough to ready the device for reversing

servoLW.write(90);servoRW.write(90);servoSL.write(90);servoA1.write(90);servoA2.write(90);//Delay for scissor lift to turn in other direction

delay(300);

servoLW.write(0);servoRW.write(180);servoSL.write(180);servoA1.write(90);servoA2.write(90);//Back device up/ retract scissor lift to get under pole

delay(500);

servoLW.write(90);servoRW.write(90);servoSL.write(180); servoA1.write(90);servoA2.write(90);//Keep retracting scissor lift until clearance achieved

delay(42000);

servoLW.write(90);servoRW.write(90);servoSL.write(90);servoA1.write(90);servoA2.write(90);//

delay(300);

servoLW.write(180);servoRW.write(90);servoSL.write(90);servoA1.write(90);servoA2.write(90);//Make 30 degree turn

delay(300);

servoLW.write(90);servoRW.write(90);servoSL.write(90);servoA1.write(90);servoA2.write(90);//

delay(300);

servoLW.write(180);servoRW.write(0);servoSL.write(90);servoA1.write(90);servoA2.write(90);//Drive forward positioning device adjacent to finish zone

delay(7200);

servoLW.write(90);servoRW.write(90);servoSL.write(90); servoA1.write(90);servoA2.write(90);//Pause to ensure traction for the turn

delay(300);

servoLW.write(90);servoRW.write(90);servoSL.write(180); servoA1.write(90);servoA2.write(90);//Retract onto pole

delay(50000);

}

void loop() {

servoLW.write(90);servoRW.write(90);servoSL.write(90);servoA1.write(90);servoA2.write(90);

delay(50);

}

// Function that reads the distance

int ultraRead(){

pinMode ( ping, OUTPUT );

digitalWrite( ping, LOW );

delayMicroseconds(2);

digitalWrite( ping, HIGH );

delayMicroseconds(5);

digitalWrite( ping, LOW);

pinMode (echo, INPUT);

duration = pulseIn(echo, HIGH);

mm = duration / 580;

}