I need help with my Arduino Walking Robot. I want it to avoid obstacles and i am

Question

I need help with my Arduino Walking Robot. I want it to avoid obstacles and i am facing a problem right now with my code. Whenever my robot detects a wall in front of it I programmed it to go backwards and turn. But the problem with this is that the robot immediately after sensing the front wall and turning it automatically goes back to the middle because it doesent detect a wall anymore. I need to program the function so that it turns back(completes a function) for a certain amount time eg. turns back for 5 seconds.

I NEED THE SERVO MOTOR TO MOVE BACKWARDS FOR 5 SECONDS AND THEN TURN AND MOVE FORWARDS. servoDrive.write(0) is backwards and servoDrive.write(180) is forwards. I Need this to happen for the 2nd 3rd and 4th if statement functions. I was advised to you millis() but i do not know how to implement that in this scenario

#include <Servo.h>

Servo servoDrive; // Define left servo
Servo servoDirection; // Define right servo
int trigPin1 = 11;
int echoPin1 = 10;

int trigPin2 = 7;
int echoPin2 = 6;

int trigPin3 = 42;
int echoPin3 = 43;

boolean isFrontWallThere = false;
boolean isARightWallThere = false;
boolean isALeftWallThere = false;

int distance1, distance2, distance3;
long duration1,duration2,duration3;


void setup() {
Serial.begin(9600);
Serial.println ("Starting now...");
pinMode(trigPin1, OUTPUT);
pinMode(echoPin1, INPUT);
  
pinMode(trigPin2, OUTPUT);
pinMode(echoPin2, INPUT);
  
pinMode(trigPin3, OUTPUT);
pinMode(echoPin3, INPUT);
servoDrive.attach(18); // Set left servo to digital pin 18
servoDirection.attach(14); // Set right servo to digital pin 14

}

  
void loop( ) {

if (isFrontWallThere == false && isARightWallThere == false && isALeftWallThere == false)
{
servoDrive.write(180);
servoDirection.write(130);
delay(300);
//the motor will rotate backwards.
Serial.println(" ");
Serial.println("All Clear! going forwards");
}

else {

if (isFrontWallThere == true && isARightWallThere == false && isALeftWallThere == false)
{
  
servoDrive.write(0);
servoDirection.write(180);
delay(500);   
Serial.println(" ");
Serial.println("Object detected in front of me.....moving back");
}
//the motor will rotate backwards.

else {

if (isFrontWallThere == false && isARightWallThere == false && isALeftWallThere == true)
{
  
servoDrive.write(180);
servoDirection.write(0);
delay(5000);
Serial.println(" ");
Serial.println("Object detected to the LEFT.....moving to the right");
}
//the motor will rotate left

else {
if (isFrontWallThere == false && isARightWallThere == true && isALeftWallThere == false) {

servoDrive.write(180);
servoDirection.write(180);
delay(500);
Serial.println(" ");
Serial.println("Object detected to the RIGHT.....moving to the left");
}

}
  
}

}
  
  
{
digitalWrite (trigPin1, LOW);
delayMicroseconds(2);
digitalWrite (trigPin1, HIGH);
delayMicroseconds (5);
duration1 = pulseIn (echoPin1, HIGH);
distance1 = (duration1/2) / 29.1;

if ((distance1 < 15 || distance1 == 0)) {
isFrontWallThere = true;
}
else {
isFrontWallThere = false;
}

}

{
digitalWrite (trigPin2, LOW);
delayMicroseconds(2);
digitalWrite (trigPin2, HIGH);
delayMicroseconds (5);
duration2 = pulseIn (echoPin2, HIGH);
distance2 = (duration2/2) / 29.1;

if ((distance2 < 15 || distance2 == 0)) {
isALeftWallThere = true;
}
else {
isALeftWallThere = false;
}
}
{
digitalWrite (trigPin3, LOW);
delayMicroseconds(2);
digitalWrite (trigPin3, HIGH);
delayMicroseconds (5);   
duration3 = pulseIn (echoPin3, HIGH);
distance3 = (duration3/2) / 29.1;

if ((distance3 < 15 || distance3 == 0)) {
isARightWallThere = true;
}
else {
isARightWallThere = false;
}
}

{
Serial.print("Front Sensor: ");
Serial.print(distance1);
Serial.print("cm ");
  
Serial.print("Left Sensor: ");
Serial.print(distance2);
Serial.print("cm ");

Serial.print("Right Sensor: ");   
Serial.print(distance3);
Serial.print("cm");

  
Serial.println(" ");
delay(100);
}
}

Explanation / Answer

//Hello Please run this code in your arduino and chek the robot movement

#include <Servo.h>

int trigPin1 = 11;
int echoPin1 = 10;
int trigPin2 = 7;
int echoPin2 = 6;
int trigPin3 = 42;
int echoPin3 = 43;

int distance1, distance2, distance3;
long duration1, duration2, duration3;

Servo servoDrive; // Define left servo
Servo servoDirection; // Define right servo

boolean isFrontWallThere = false;
boolean isARightWallThere = false;
boolean isALeftWallThere = false;

void setup() {

pinMode(trigPin1, OUTPUT);
pinMode(echoPin1, INPUT);

pinMode(trigPin2, OUTPUT);
pinMode(echoPin2, INPUT);

pinMode(trigPin3, OUTPUT);
pinMode(echoPin3, INPUT);
  
servoDrive.attach(18); // Set left servo to digital pin 18
servoDirection.attach(14); // Set right servo to digital pin 14
}

void loop() {

digitalWrite (trigPin1, LOW);
delayMicroseconds(2);
digitalWrite (trigPin1, HIGH);
delayMicroseconds (5);
duration1 = pulseIn (echoPin1, HIGH);
distance1 = (duration1 / 2) / 29.1;
if ((distance2 > 0 && distance2 < 15)) {
isFrontWallThere = true;
}
else {
isFrontWallThere = false;
}

digitalWrite (trigPin2, LOW);
delayMicroseconds(2);
digitalWrite (trigPin2, HIGH);
delayMicroseconds (5);
duration2 = pulseIn (echoPin2, HIGH);
distance2 = (duration2 / 2) / 29.1;

if ((distance2 > 0 && distance2 < 15)) {
isALeftWallThere = true;
}
else {
isALeftWallThere = false;
}

digitalWrite (trigPin3, LOW);
delayMicroseconds(2);
digitalWrite (trigPin3, HIGH);
delayMicroseconds (5);
duration3 = pulseIn (echoPin3, HIGH);
distance3 = (duration3 / 2) / 29.1;

if ((distance3 > 0 && distance3 < 15)) {
isARightWallThere = true;
}
else {
isARightWallThere = false;
}
Serial.print("Front Sensor: ");
Serial.print(distance1);
Serial.print("cm ");
Serial.print("Left Sensor: ");
Serial.print(distance2);
Serial.print("cm ");
Serial.print("Right Sensor: ");
Serial.print(distance3);
Serial.print("cm");
Serial.println(" ");
//delay(100);
//moving to forward
if (isFrontWallThere == false && isARightWallThere == false && isALeftWallThere == false)
{
servoDrive.write(180);
servoDirection.write(180);
delay(300);
//the motor will rotate backwards.
Serial.println(" ");
Serial.println("All Clear! going forwards");
}
//moving to back
else if (isFrontWallThere == true && isARightWallThere == false && isALeftWallThere == false)
{
servoDrive.write(0);
servoDirection.write(0);
delay(500);
Serial.println(" ");
Serial.println("Object detected in front of me.....moving back");
}
//moving to right
else if (isFrontWallThere == false && isARightWallThere == false && isALeftWallThere == true)
{
servoDrive.write(180);
servoDirection.write(0);
delay(5000);
Serial.println(" ");
Serial.println("Object detected to the LEFT.....moving to the right");
}

//moving to left
else if (isFrontWallThere == false && isARightWallThere == true && isALeftWallThere == false) {
servoDrive.write(0);
servoDirection.write(180);
delay(500);
Serial.println(" ");
Serial.println("Object detected to the RIGHT.....moving to the left");
}

}

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