arduino sketch for the domstic robot

/*THIS IS THE CODE FOR THE ROBOT TO MOVE*/


#include<NewPing.h>
#include <AFMotor.h>
#include<SoftwareSerial.h>
AF_DCMotor motor(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);

float t1;
float t2;
float t3;
float t4;

#define MAX_DISTANCE 200

#define trig_pin  A0

#define echo_pin  A1

#define trig_pin2  A2

#define echo_pin2  A3

#define trig_pin3  A4

#define echo_pin3  A4

#define trig_pin4  13

#define echo_pin4  2

NewPing sonar1(trig_pin, echo_pin , MAX_DISTANCE);

NewPing sonar2(trig_pin2, echo_pin2 , MAX_DISTANCE);

NewPing sonar3(trig_pin3, echo_pin3 , MAX_DISTANCE);

NewPing sonar4(trig_pin4, echo_pin4 , MAX_DISTANCE);

int direction = 0;
//String cmd, status, start, dontstart;
void setup() {
  Serial.begin(9600);
  Serial.println("Motor party!");
  // pinMode(status, OUTPUT);
  pinMode(trig_pin, OUTPUT);
  pinMode(trig_pin2, OUTPUT);
  pinMode(trig_pin3, OUTPUT);
  pinMode(trig_pin4, OUTPUT);
  pinMode(echo_pin, INPUT);
  pinMode(echo_pin2, INPUT);
  pinMode(echo_pin3, INPUT);
  pinMode(echo_pin4, INPUT);

  motor3.setSpeed(200);
  motor3.run(RELEASE);
  //   turn on motor #2
  motor4.setSpeed(200);
  motor4.run(RELEASE);
}

void movingf()
{
  motor.run(FORWARD);
  motor.setSpeed(255);
  motor2.run(FORWARD);
  motor2.setSpeed(255);
 
}
void movingb()
{
  motor3.run(FORWARD);
  motor3.setSpeed(200);
  motor4.run(FORWARD);
  motor4.setSpeed(200);
 
}
void movingr()
{
  motor.run(RELEASE);
  motor2.run(FORWARD);
  motor2.setSpeed(200);
 
}
void movingl()
{
  motor.run(FORWARD);
  motor.setSpeed(200);
  motor2.run(RELEASE);

}
void allstop()
{
  motor.run(RELEASE);
  motor.setSpeed(0);
  motor2.run(RELEASE);
  motor2.setSpeed(0);
  motor3.run(RELEASE);
  motor3.setSpeed(0);
  motor4.run(RELEASE);
  motor4.setSpeed(0);
 
}
int abs_follow()
{
  motor.run(BACKWARD);
  motor.setSpeed(200);
  motor2.run(BACKWARD);
  motor2.setSpeed(200);
}
void loop()
{

  delay(50);

  unsigned int uS1 = sonar1.ping();

  pinMode(echo_pin, OUTPUT);

  digitalWrite(echo_pin, LOW);

  pinMode(echo_pin, INPUT);
 
 t1 = (uS1 / US_ROUNDTRIP_CM);

  delay(50);

  unsigned int uS2 = sonar2.ping();

  pinMode(echo_pin2, OUTPUT);

  digitalWrite(echo_pin2, LOW);

  pinMode(echo_pin2, INPUT);

  t2 = (uS2 / US_ROUNDTRIP_CM);

  unsigned int uS3 = sonar3.ping();

  pinMode(echo_pin3, OUTPUT);

  digitalWrite(echo_pin3, LOW);

  pinMode(echo_pin3, INPUT);

  t3 =( uS3 / US_ROUNDTRIP_CM);


  unsigned int uS4 = sonar4.ping();

  pinMode(echo_pin4, OUTPUT);

  digitalWrite(echo_pin4, LOW);

  pinMode(echo_pin4, INPUT);

  t4 = (uS4 / US_ROUNDTRIP_CM);

if(t1 > 9)
{
  Serial.print(t1);
  movingf();
  Serial.println("moving forward");
  }
 
  else if(t2 > 5)
 
  {
   
  Serial.print(t2);
    movingl();
   
  Serial.println("moving right");
    }
   else if(t3 > 5)
   {
    movingr();
   
  Serial.print(t3);
  Serial.println("moving left");
    } else if (t1 <5 || t2<5 || t3<5 )
    {
      allstop();
     
  Serial.println("every direction is blocked and stopped");
  }
}

/*else if (cmd == dontstart)
  {
  Serial.print("type start to start");
  } else if (cmd == start || cmd == dontstart)
  {
  Serial.print("don't type rather than start or dontstart");
  }
*/