ultrasonic sensor, servo, and dc mototrs

Projects Programming
3 
const int trigPin = 2; 
const int echoPin = 4; 

const int LEDR = 13; 
const int LEDG = 12;
long duration, distance, inches, cm;
const int MaxDistance = 15; 
const int In1 = 3;      
const int In2 = 5;      
const int In3 = 6;      
const int In4 = 11; 
#include <Servo.h>; 
Servo myServo;
int pos = 0;
void setup() 
{
 
  Serial.begin(9600);
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  pinMode(LEDR,OUTPUT);
  pinMode(LEDG,OUTPUT);
   pinMode(In1, OUTPUT);
  pinMode(In2, OUTPUT);
  pinMode(In3, OUTPUT);
  pinMode(In4, OUTPUT); 
  
  myServo.attach(8);
}

 
void loop()
{
  {
  int speed1;
  int speed2;
  int speed3;
 
 
 
 
  speed1 = 150; 
  speed2 = 180; 
  speed3 = 158;
  while(1==1)
  {
  ping();
  distance = cm;
  if (distance < MaxDistance)
   {
     digitalWrite(LEDR, HIGH);
     digitalWrite(LEDG, LOW);

     
     analogWrite(In4, 0); 
    analogWrite(In3, 0); 
    analogWrite(In2, 0); 
    analogWrite(In1, 0);
    delay(100); 
    analogWrite(In4, speed3); 
    analogWrite(In3, 0); 
    analogWrite(In2, speed1); 
    analogWrite(In1, 0);
    delay(999); 
      analogWrite(In4, 0); 
    analogWrite(In3, 0); 
    analogWrite(In2, speed2); 
    analogWrite(In1, 0);
    delay(600);
   } 
   else
   {
  for (pos = 0; pos <= 180; pos += 1)
 { 
    myservo.write(pos);             
    delay(15);                       
  }
 
  for (pos = 180; pos >= 0; pos -= 1)
  { 
    myservo.write(pos);              
    delay(15);                       
  }
  
      digitalWrite(LEDG, HIGH);
     digitalWrite(LEDR, LOW);


  analogWrite(In4, 0); 
    analogWrite(In3, speed3); 
    analogWrite(In2, 0); 
    analogWrite(In1, speed1);
    
   }
  Serial.print(inches);
  Serial.print("in, ");
  Serial.print(cm);
  Serial.print("cm");
  Serial.println();
  delay(10);
   
}
  } 
}

void ping ()
{

  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  duration = pulseIn(echoPin, HIGH);
  inches = duration / 74 / 2;
  cm = duration / 29 /2;
  return;
}