trying again.

//RECEIVER CODE
//Library: TMRh20/RF24, https://github.com/tmrh20/RF24/

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

RF24 radio(7, 8); // CE, CSN
const byte address[6] = "00001";
char receivedData[32] = "";
int  xAxis, yAxis;
// Ultrasonic Sensor

int trig1 = 13, trig2 = 9, trig3 = 4, echo1 = 12, echo2 = 10, echo3 = 11;
long duration, distance, slot1, slot2, slot3;
// motor 1

int enA = 5;
int in1 = 22;
int in2 = 24;
// motor 2
int enB = 6;
int in3 = 26;
int in4 = 28;

//
boolean btn1state = 0;
boolean btn2state = 0;

int motorSpeedA = 0;
int motorSpeedB = 0;
// Driver function call them with the delay you want passed into them.
void fullStop(int timing) {
  Serial.println("Stopping");
  delay(timing);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void forward(int timing) {
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 200);    //drive forward
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 200);
  Serial.println("Moving Forward");
  delay(timing);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void backwords(int timing) {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 200);    //drive backwards for 0,4sec
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(enB, 200);
  Serial.println("Moving Backwords");
  delay(timing);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void turnLeft(int timing) {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 200);   //makes the car turn left for 0,8sec
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 200);
  Serial.println("turning Left");
  delay(timing);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
void turnRight(int timing) {
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 200);    //make the car turn right for 0,8sec
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(enB, 200);
  Serial.println("turning Right");
  delay(timing);
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
}
////////End driver functions.
void setup() {

  pinMode(trig1, OUTPUT); pinMode(echo1, INPUT);
  pinMode(trig2, OUTPUT); pinMode(echo2, INPUT);
  pinMode(trig3, OUTPUT); pinMode(echo3, INPUT);
  pinMode(enA, OUTPUT);
  pinMode(enB, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  pinMode(in3, OUTPUT);
  pinMode(in4, OUTPUT);

  radio.begin();
  radio.openReadingPipe(0, address);
  radio.setPALevel(RF24_PA_MIN);
  radio.startListening();

}

void ultra(int trig, int echo)

{
  digitalWrite(trig, LOW);
  delay(10);
  digitalWrite(trig, HIGH);
  delay(10);
  digitalWrite(trig, LOW);
  duration = pulseIn(echo, HIGH);
  distance = (duration / 2) * 0.0341;
}

void U1()
{
  ultra(trig1, echo1);
  frontsensor = distance;
}
void U2()
{
  ultra(trig2, echo2);
  rightsensor = distance;
}
void U3()
{
  ultra(trig3, echo3);
  leftsensor = distance;
}

void loop() {

  if (radio.available()) {
    radio.read(&btn1state, sizeof(btn1state));
    delay(15);
    radio.read(&btn2state, sizeof(btn2state));
    delay(15);
    radio.read(&receivedData, sizeof(receivedData));
    xAxis = atoi(&receivedData[0]);
    delay(15);
    radio.read(&receivedData, sizeof(receivedData));
    yAxis = atoi(&receivedData[0]);
    delay(15);
  }

  //MANUAL MODE STARTS HERE///////////////////////////////////////////////////////
  if (btn1state == HIGH) {
    if (yAxis > 1010) {
      digitalWrite(in1, HIGH);
      digitalWrite(in2, LOW);
      digitalWrite(in3, LOW);
      digitalWrite(in4, HIGH);
      motorSpeedA = map(yAxis, 470, 0, 0, 255);
      motorSpeedB = map(yAxis, 470, 0, 0, 255);
    }
    else if (yAxis < 20) {
      digitalWrite(in1, LOW);
      digitalWrite(in2, HIGH);
      digitalWrite(in3, HIGH);
      digitalWrite(in4, LOW);
      motorSpeedA = map(yAxis, 550, 1023, 0, 255);
      motorSpeedB = map(yAxis, 550, 1023, 0, 255);
    }
    else if (xAxis > 1010) {
      digitalWrite(in1, LOW);
      digitalWrite(in2, HIGH);
      digitalWrite(in3, LOW);
      digitalWrite(in4, HIGH);
      motorSpeedA = map(xAxis, 470, 0, 0, 255);
      motorSpeedB = map(xAxis, 470, 0, 0, 255);
    }
    else if (xAxis < 20) {
      digitalWrite(in1, HIGH);
      digitalWrite(in2, LOW);
      digitalWrite(in3, HIGH);
      digitalWrite(in4, LOW);
      motorSpeedA = map(xAxis, 550, 1023, 0, 255);
      motorSpeedB = map(xAxis, 550, 1023, 0, 255);
    }
    else  {
      motorSpeedA = 0;
      motorSpeedB = 0;
    }
    analogWrite(enA, motorSpeedA);
    analogWrite(enB, motorSpeedB);
  }

  //AUTOMATIC MODE STARTS HERE///////////////////////////////////////////////////////

  if (btn2state == HIGH) {

    U1(), U2(), U3();
    if (frontsensor > 35 && rightsensor > 35 && leftsensor > 35) {
      forward(1000);
    }
    if (frontsensor < 35) {
      fullStop(500);
      backwords(500);
      fullStop(500);
      turnRight(800);
    }
    if (rightsensor < 25) {

      fullStop(800);
      turnLeft(800);
    }
    if (leftsensor < 25) {
      fullStop(1000);
      turnRight(800);
    }
  }
}